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The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…
The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localization in GPS-denied environments still remain unsolved.…
Visual localization on standard-definition (SD) maps has emerged as a promising low-cost and scalable solution for autonomous driving. However, existing regression-based approaches often overlook inherent geometric priors, resulting in…
In this paper, we consider a position estimation problem for an unmanned aerial vehicle (UAV) equipped with both proprioceptive sensors, i.e. IMU, and exteroceptive sensors, i.e. GPS and a barometer. We propose a data-driven position…
6D object pose estimation aims to infer the relative pose between the object and the camera using a single image or multiple images. Most works have focused on predicting the object pose without associated uncertainty under occlusion and…
The Earth, a temporal complex system, is witnessing a shift in research on its coordinate system, moving away from conventional static positioning toward embracing dynamic modeling. Early positioning concentrates on static natural…
Inter-agent relative localization is critical for any multi-robot system operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 2D pose estimation system…
We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed online, locally on smart edge sensors by deep neural…
Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…
We propose a novel end-to-end method for cross-view pose estimation. Given a ground-level query image and an aerial image that covers the query's local neighborhood, the 3 Degrees-of-Freedom camera pose of the query is estimated by matching…
Mapping and localization are crucial problems in robotics and autonomous driving. Recent advances in 3D Gaussian Splatting (3DGS) have enabled precise 3D mapping and scene understanding by rendering photo-realistic images. However, existing…
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…
Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic systems operating in unstructured environments. In particular, robust pick-and-place planning directly from noisy and only partial…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
For autonomous ground vehicles (AGVs) deployed in suburban neighborhoods and other human-centric environments the problem of localization remains a fundamental challenge. There are well established methods for localization with GPS, lidar,…
Estimating vehicles' locations is one of the key components in intelligent traffic management systems (ITMSs) for increasing traffic scene awareness. Traditionally, stationary sensors have been employed in this regard. The development of…
This paper proposes an unmanned aerial vehicle (UAV)-based distributed sensing framework that uses orthogonal frequency-division multiplexing (OFDM) waveforms to detect the position of a ground target, and UAVs operate in half-duplex mode.…
Human pose estimation is a very active research field, stimulated by its important applications in robotics, entertainment or health and sports sciences, among others. Advances in convolutional networks triggered noticeable improvements in…
Monitoring plants and fruits at high resolution play a key role in the future of agriculture. Accurate 3D information can pave the way to a diverse number of robotic applications in agriculture ranging from autonomous harvesting to precise…
Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…