Related papers: VIZARD: Reliable Visual Localization for Autonomou…
Localization is an essential technique in mobile robotics. In a complex environment, it is necessary to fuse different localization modules to obtain more robust results, in which the error model plays a paramount role. However,…
Safe autonomous landing for Unmanned Aerial Vehicles (UAVs) in populated areas is a crucial aspect for successful urban deployment, particularly in emergency landing situations. Nonetheless, validating autonomous landing in real scenarios…
We present an approach towards robust lane tracking for assisted and autonomous driving, particularly under poor visibility. Autonomous detection of lane markers improves road safety, and purely visual tracking is desirable for widespread…
Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
We present a robust and precise localization system that achieves centimeter-level localization accuracy in disparate city scenes. Our system adaptively uses information from complementary sensors such as GNSS, LiDAR, and IMU to achieve…
Visual place recognition (VPR) is critical in not only localization and mapping for autonomous driving vehicles, but also in assistive navigation for the visually impaired population. To enable a long-term VPR system on a large scale,…
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…
Long-term visual localization in outdoor environment is a challenging problem, especially faced with the cross-seasonal, bi-directional tasks and changing environment. In this paper we propose a novel visual inertial localization framework…
This work addresses visual cross-view metric localization for outdoor robotics. Given a ground-level color image and a satellite patch that contains the local surroundings, the task is to identify the location of the ground camera within…
Visual-based recognition, e.g., image classification, object detection, etc., is a long-standing challenge in computer vision and robotics communities. Concerning the roboticists, since the knowledge of the environment is a prerequisite for…
Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, existing approaches often require dense lighting distributions.…
Virtual content instability caused by device pose tracking error remains a prevalent issue in markerless augmented reality (AR), especially on smartphones and tablets. However, when examining environments which will host AR experiences, it…
Accurate global localization is critical for autonomous driving and robotics, but GNSS-based approaches often degrade due to occlusion and multipath effects. As an emerging alternative, cross-view pose estimation predicts the 3-DoF camera…
Augmented reality (AR) displays become more and more popular recently, because of its high intuitiveness for humans and high-quality head-mounted display have rapidly developed. To achieve such displays with augmented information, highly…
Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…
Visibility distance on the road pathway plays a significant role in road safety and in particular, has a clear impact on the choice of speed limits. Visibility distance is thus of importance for road engineers and authorities. While…
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…
Visual localization is a core component in many applications, including augmented reality (AR). Localization algorithms compute the camera pose of a query image w.r.t. a scene representation, which is typically built from images. This often…
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…