Related papers: Robot Localization in Floor Plans Using a Room Lay…
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…
We propose a novel method to efficiently estimate the spatial layout of a room from a single monocular RGB image. As existing approaches based on low-level feature extraction, followed by a vanishing point estimation are very slow and often…
Robust localization in dense urban scenarios using a low-cost sensor setup and sparse HD maps is highly relevant for the current advances in autonomous driving, but remains a challenging topic in research. We present a novel monocular…
We introduce a novel approach for the precise localization of 67 anatomical structures from single depth images captured from the exterior of the human body. Our method uses a multi-class occupancy network, trained using segmented CT scans…
Unmanned vehicles usually rely on Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) sensors to achieve high-precision localization results for navigation purpose. However, this combination with their associated costs…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
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…
Reliable localization is one of the most important parts of an MAV system. Localization in an indoor GPS-denied environment is a relatively difficult problem. Current vision based algorithms track optical features to calculate odometry. We…
Camera, and associated with its objects within the field of view, localization could benefit many computer vision fields, such as autonomous driving, robot navigation, and augmented reality (AR). In this survey, we first introduce specific…
Indoor localization of autonomous mobile robots (AMRs) can be realized with fiducial markers. Such systems require only a simple, monocular camera as sensor and fiducial markers as passive, identifiable position references that can be…
Localizing an object accurately with respect to a robot is a key step for autonomous robotic manipulation. In this work, we propose to tackle this task knowing only 3D models of the robot and object in the particular case where the scene is…
We present a robust deep learning based 6 degrees-of-freedom (DoF) localization system for endoscopic capsule robots. Our system mainly focuses on localization of endoscopic capsule robots inside the GI tract using only visual information…
Indoor positioning systems (IPSs) have gained attention as outdoor navigation becomes prevalent in everyday life. Research is being actively conducted on how indoor smartphone navigation can be accomplished and improved using received…
Visual localization determines an agent's precise position and orientation within an environment using visual data. It has become a critical task in the field of robotics, particularly in applications such as autonomous navigation. This is…
Public cameras often have limited metadata describing their attributes. A key missing attribute is the precise location of the camera, using which it is possible to precisely pinpoint the location of events seen in the camera. In this…
Domestic service robots such as lawn mowing and vacuum cleaning robots are the most numerous consumer robots in existence today. While early versions employed random exploration, recent systems fielded by most of the major manufacturers…
In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…
Lifelong localization is crucial for enabling the autonomy of service robots. In this paper, we present an overview of our past research on long-term localization and mapping, exploiting geometric priors such as floor plans and integrating…
The ability to accurately estimate depth information is crucial for many autonomous applications to recognize the surrounded environment and predict the depth of important objects. One of the most recently used techniques is monocular depth…