Related papers: Appearance-Based Landmark Selection for Efficient …
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…
To operate in an urban environment, an automated vehicle must be capable of accurately estimating its position within a global map reference frame. This is necessary for optimal path planning and safe navigation. To accomplish this over an…
In this paper, we address the problem of landmark-based visual place recognition. In the state-of-the-art method, accurate object proposal algorithms are first leveraged for generating a set of local regions containing particular landmarks…
We consider the visual feature selection to improve the estimation quality required for the accurate navigation of a robot. We build upon a key property that asserts: contributions of trackable features (landmarks) appear linearly in the…
In appearance-based localization and mapping, loop closure detection is the process used to determinate if the current observation comes from a previously visited location or a new one. As the size of the internal map increases, so does the…
This paper proposes a novel method to optimize bandwidth usage for object detection in critical communication scenarios. We develop two operating models of active information seeking. The first model identifies promising regions in low…
Many modern simultaneous localization and mapping (SLAM) techniques rely on sparse landmark-based maps due to their real-time performance. However, these techniques frequently assert that these landmarks are fixed in position over time,…
Outdoor visual localization is a crucial component to many computer vision systems. We propose an approach to localization from images that is designed to explicitly handle the strong variations in appearance happening between daytime and…
A major challenge in place recognition for autonomous driving is to be robust against appearance changes due to short-term (e.g., weather, lighting) and long-term (seasons, vegetation growth, etc.) environmental variations. A promising…
Vision based localization is a popular approach to carry out manoeuvres particularly in GPS-restricted indoor environments, because vision can complement other activities performed by the robot. The objective is to estimate the current…
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 address the problem of visual place recognition with perceptual changes. The fundamental problem of visual place recognition is generating robust image representations which are not only insensitive to environmental changes but also…
Despite significant algorithmic advances in vision-based positioning, a comprehensive probabilistic framework to study its performance has remained unexplored. The main objective of this paper is to develop such a framework using ideas from…
Accurate and robust localization remains a significant challenge for autonomous vehicles. The cost of sensors and limitations in local computational efficiency make it difficult to scale to large commercial applications. Traditional…
As autonomous systems increasingly rely on onboard sensing for localization and perception, the parallel tasks of motion planning and state estimation become more strongly coupled. This coupling is well-captured by augmenting the planning…
Coupling cellular communication networks with vehicular ad hoc networks (VANET) can be a very interesting way out for providing Internet access to vehicles in the road. However, due to the several specific characteristics of VANETs, making…
Path planning algorithms for unmanned aerial or ground vehicles, in many surveillance applications, rely on Global Positioning System (GPS) information for localization. However, disruption of GPS signals, by intention or otherwise, can…
We address the problem of vehicle self-localization from multi-modal sensor information and a reference map. The map is generated off-line by extracting landmarks from the vehicle's field of view, while the measurements are collected…
For autonomous vehicles to operate persistently in a typical urban environment, it is essential to have high accuracy position information. This requires a mapping and localisation system that can adapt to changes over time. A localisation…
Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…