Related papers: Robust and Efficient Relative Pose with a Multi-ca…

This paper presents new efficient solutions to the rolling shutter camera absolute pose problem. Unlike the state-of-the-art polynomial solvers, we approach the problem using simple and fast linear solvers in an iterative scheme. We present…

Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…

For safety of autonomous driving, vehicles need to be able to drive under various lighting, weather, and visibility conditions in different environments. These external and environmental factors, along with internal factors associated with…

Mutual localization plays a crucial role in multi-robot cooperation. CREPES, a novel system that focuses on six degrees of freedom (DOF) relative pose estimation for multi-robot systems, is proposed in this paper. CREPES has a compact…

Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…

In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…

6DOF camera relocalization is an important component of autonomous driving and navigation. Deep learning has recently emerged as a promising technique to tackle this problem. In this paper, we present a novel relative geometry-aware Siamese…

Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…

We propose a PnP algorithm for a camera constrained to two-dimensional motion (applicable, for instance, to many wheeled robotics platforms). Leveraging this assumption allows accuracy and performance improvements over 3D PnP algorithms due…

In this paper we consider a collection of relative pose problems which arise naturally in applications for visual indoor UAV navigation. We focus on cases where additional information from an onboard IMU is available and thus provides a…

Making multi-camera visual SLAM systems easier to set up and more robust to the environment is attractive for vision robots. Existing monocular and binocular vision SLAM systems have narrow sensing Field-of-View (FoV), resulting in…

Solving Perspective-n-Point (PnP) problems is a traditional way of estimating object poses. Given outlier-contaminated data, a pose of an object is calculated with PnP algorithms of n = {3, 4} in the RANSAC-based scheme. However, the…

Autonomous driving holds great promise in addressing traffic safety concerns by leveraging artificial intelligence and sensor technology. Multi-Object Tracking plays a critical role in ensuring safer and more efficient navigation through…

This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…

We propose a minimal solution for pose estimation using both points and lines for a multi-perspective camera. In this paper, we treat the multi-perspective camera as a collection of rigidly attached perspective cameras. These type of…

Although significant improvement has been achieved recently in 3D human pose estimation, most of the previous methods only treat a single-person case. In this work, we firstly propose a fully learning-based, camera distance-aware top-down…

The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…

Object tracking is a key aspect in many applications such as augmented reality in medicine (e.g. tracking a surgical instrument) or robotics. Squared planar markers have become popular tools for tracking since their pose can be estimated…

Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…

Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…