Related papers: On-device Scalable Image-based Localization via Pr…
In this paper, we address the problem of global-scale image geolocation, proposing a mixed classification-retrieval scheme. Unlike other methods that strictly tackle the problem as a classification or retrieval task, we combine the two…
High-accurate localization is crucial for the safety and reliability of autonomous driving, especially for the information fusion of collective perception that aims to further improve road safety by sharing information in a communication…
Worldwide image geolocalization, which aims to predict the GPS coordinates of any image on Earth, remains challenging due to global visual diversity. Recent generative approaches based on Retrieval-Augmented Generation (RAG) and Large…
Visual place recognition is the task of recognizing a place depicted in an image based on its pure visual appearance without metadata. In visual place recognition, the challenges lie upon not only the changes in lighting conditions, camera…
Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…
Accurate and reliable localization is a fundamental requirement for autonomous vehicles to use map information in higher-level tasks such as navigation or planning. In this paper, we present a novel approach to vehicle localization in dense…
4D mmWave radar sensors are suitable for roadside perception in city-scale Intelligent Transportation Systems (ITS) due to their long sensing range, weatherproof functionality, simple mechanical design, and low manufacturing cost. In this…
Accurate information about the location and orientation of a camera in mobile devices is central to the utilization of location-based services (LBS). Most of such mobile devices rely on GPS data but this data is subject to inaccuracy due to…
Visual localization, i.e., the problem of camera pose estimation, is a central component of applications such as autonomous robots and augmented reality systems. A dominant approach in the literature, shown to scale to large scenes and to…
In this paper, we propose a novel method for plane clustering specialized in cluttered scenes using an RGB-D camera and validate its effectiveness through robot grasping experiments. Unlike existing methods, which focus on large-scale…
Worldwide geolocalization aims to locate the precise location at the coordinate level of photos taken anywhere on the Earth. It is very challenging due to 1) the difficulty of capturing subtle location-aware visual semantics, and 2) the…
Wearable laser scanning (WLS) system has the advantages of flexibility and portability. It can be used for determining the user's path within a prior map, which is a huge demand for applications in pedestrian navigation, collaborative…
Visual Place recognition is commonly addressed as an image retrieval problem. However, retrieval methods are impractical to scale to large datasets, densely sampled from city-wide maps, since their dimension impact negatively on the…
Fingerprinting-based positioning, one of the promising indoor positioning solutions, has been broadly explored owing to the pervasiveness of sensor-rich mobile devices, the prosperity of opportunistically measurable location-relevant…
Adding location to the available information enables a new category of applications. With the constrained battery on cell phones, energy-efficient localization becomes an important challenge. In this paper we introduce a low-energy…
Touch-based object localization is an important component of autonomous robotic systems that are to perform dexterous tasks in real-world environments. When the objects to locate are placed within clutters, this touch-based procedure tends…
Building on progress in feature representations for image retrieval, image-based localization has seen a surge of research interest. Image-based localization has the advantage of being inexpensive and efficient, often avoiding the use of 3D…
We have implemented a method that detects planar regions from 3D scan data using Random Sample Consensus (RANSAC) algorithm to address the issue of a trade-off between the scanning speed and the point density of 3D scanning. However, the…
While the satellite-based Global Positioning System (GPS) is adequate for some outdoor applications, many other applications are held back by its multi-meter positioning errors and poor indoor coverage. In this paper, we study the…
Monocular visual SLAM has become an attractive practical approach for robot localization and 3D environment mapping, since cameras are small, lightweight, inexpensive, and produce high-rate, high-resolution data streams. Although numerous…