Related papers: Benchmarking 6DOF Outdoor Visual Localization in C…
Applications that interact with the real world such as augmented reality or robot manipulation require a good understanding of the location and pose of the surrounding objects. In this paper, we present a new approach to estimate the 6…
We present a visual localization framework based on novel deep attention aware features for autonomous driving that achieves centimeter level localization accuracy. Conventional approaches to the visual localization problem rely on…
In this paper, we present a visual localization pipeline, namely MegLoc, for robust and accurate 6-DoF pose estimation under varying scenarios, including indoor and outdoor scenes, different time across a day, different seasons across a…
The visual camera is an attractive device in beyond visual line of sight (B-VLOS) drone operation, since they are low in size, weight, power, and cost, and can provide redundant modality to GPS failures. However, state-of-the-art visual…
We consider a single-query 6-DoF camera pose estimation with reference images and a point cloud, i.e. the problem of estimating the position and orientation of a camera by using reference images and a point cloud. In this work, we perform a…
Safe road crossing by autonomous wheelchairs can be affected by several environmental factors such as adverse weather conditions influencing the accuracy of artificial vision. Previous studies have addressed experimental evaluation of…
Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is still a challenge due to the environmental appearance…
Vision-based path following allows robots to autonomously repeat manually taught paths. Stereo Visual Teach and Repeat (VT\&R) accomplishes accurate and robust long-range path following in unstructured outdoor environments across changing…
Visual (re)localization is critical for various applications in computer vision and robotics. Its goal is to estimate the 6 degrees of freedom (DoF) camera pose for each query image, based on a set of posed database images. Currently, all…
Accurate and robust visual localization under a wide range of viewing condition variations including season and illumination changes, as well as weather and day-night variations, is the key component for many computer vision and robotics…
Vision-based localization is a cost-effective and thus attractive solution for many intelligent mobile platforms. However, its accuracy and especially robustness still suffer from low illumination conditions, illumination changes, and…
Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…
We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been…
We present a real-time approach for image-based localization within large scenes that have been reconstructed offline using structure from motion (Sfm). From monocular video, our method continuously computes a precise 6-DOF camera pose, by…
Most 6-DoF localization and SLAM systems use static landmarks but ignore dynamic objects because they cannot be usefully incorporated into a typical pipeline. Where dynamic objects have been incorporated, typical approaches have attempted…
Visual localization under large changes in scale is an important capability in many robotic mapping applications, such as localizing at low altitudes in maps built at high altitudes, or performing loop closure over long distances. Existing…
In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…
We present a complete map management process for a visual localization system designed for multi-vehicle long- term operations in resource constrained outdoor environments. Outdoor visual localization generates large amounts of data that…
In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…