Related papers: Efficient 2D-3D Matching for Multi-Camera Visual L…
We tackle the problem of localizing an autonomous sea-surface vehicle in river estuarine areas using monocular camera and angular velocity input from an inertial sensor. Our method is challenged by two prominent drawbacks associated with…
Estimating the 6D pose of objects is beneficial for robotics tasks such as transportation, autonomous navigation, manipulation as well as in scenarios beyond robotics like virtual and augmented reality. With respect to single image pose…
In this work, we explore how a strategic selection of camera movements can facilitate the task of 6D multi-object pose estimation in cluttered scenarios while respecting real-world constraints important in robotics and augmented reality…
Autonomous driving requires 3D maps that provide accurate and up-to-date information about semantic landmarks. Due to the wider availability and lower cost of cameras compared with laser scanners, vision-based mapping solutions, especially…
Visual navigation and three-dimensional (3D) scene reconstruction are essential for robotics to interact with the surrounding environment. Large-scale scenes and critical camera motions are great challenges facing the research community to…
We present a multimodal camera relocalization framework that captures ambiguities and uncertainties with continuous mixture models defined on the manifold of camera poses. In highly ambiguous environments, which can easily arise due to…
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 paper, we present a vision based collaborative localization framework for groups of micro aerial vehicles (MAV). The vehicles are each assumed to be equipped with a forward-facing monocular camera, and to be capable of communicating…
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…
Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The…
Long-term scene changes present challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that can provide robust localization against those challenges. Our method starts with activation of a mapping…
This paper proposes a method to estimate the pose of a sensor mounted on a vehicle as the vehicle moves through the world, an important topic for autonomous driving systems. Based on a set of commonly deployed vehicular odometric sensors,…
Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…
Visual localization in large and complex indoor scenes, dominated by weakly textured rooms and repeating geometric patterns, is a challenging problem with high practical relevance for applications such as Augmented Reality and robotics. To…
Autonomous driving has spurred the development of sensor fusion techniques, which combine data from multiple sensors to improve system performance. In particular, localization system based on sensor fusion , such as Visual Simultaneous…
Squared planar markers are a popular tool for fast, accurate and robust camera localization, but its use is frequently limited to a single marker, or at most, to a small set of them for which their relative pose is known beforehand. Mapping…
We propose a novel scoring concept for visual place recognition based on nearest neighbor descriptor voting and demonstrate how the algorithm naturally emerges from the problem formulation. Based on the observation that the number of votes…
Visual servoing technology has been well developed and applied in many automated manufacturing tasks, especially in tools' pose alignment. To access a full global view of tools, most applications adopt eye-to-hand configuration or…
High-definition (HD) maps are important for autonomous driving, but their manual generation and maintenance is very expensive. This motivates the usage of an automated map generation pipeline. Fleet vehicles provide sufficient sensors for…
In this work we present a unified method of relative camera pose estimation from points and lines correspondences. Given a set of 2D points and lines correspondences in three views, of which two are known, a method has been developed for…