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Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…
Accurate vehicle localization is a crucial step towards building effective Vehicle-to-Vehicle networks and automotive applications. Yet standard grade GPS data, such as that provided by mobile phones, is often noisy and exhibits significant…
Neural Radiance Fields and Gaussian Splatting have recently transformed computer vision by enabling photo-realistic representations of complex scenes. However, they have seen limited application in real-world robotics tasks such as…
Accurate localization is essential for robotics and augmented reality applications such as autonomous navigation. Vision-based methods combining prior maps aim to integrate LiDAR-level accuracy with camera cost efficiency for robust pose…
In this paper, we introduce a novel approach to fine-grained cross-view geo-localization. Our method aligns a warped ground image with a corresponding GPS-tagged satellite image covering the same area using homography estimation. We first…
Reliable and precise absolute positioning is necessary in the realm of Connected Automated Vehicles (CAV). Global Navigation Satellite Systems (GNSS) provides the foundation for absolute positioning. Recently enhanced Precise Point…
Autonomous navigation requires an accurate model or map of the environment. While dramatic progress in the prior two decades has enabled large-scale SLAM, the majority of existing methods rely on non-linear optimization techniques to find…
Current methods for Earth observation tasks such as semantic mapping, map alignment, and change detection rely on near-nadir images; however, often the first available images in response to dynamic world events such as natural disasters are…
Cross-view image matching for geo-localisation is a challenging problem due to the significant visual difference between aerial and ground-level viewpoints. The method provides localisation capabilities from geo-referenced images,…
Accurate and reliable sensor calibration is critical for fusing LiDAR and inertial measurements in autonomous driving. This paper proposes a novel three-stage extrinsic calibration method between LiDAR and GNSS/INS for autonomous driving.…
This paper proposes an approach that predicts the road course from camera sensors leveraging deep learning techniques. Road pixels are identified by training a multi-scale convolutional neural network on a large number of full-scene-labeled…
Many applications such as autonomous navigation, urban planning and asset monitoring, rely on the availability of accurate information about objects and their geolocations. In this paper we propose to automatically detect and compute the…
This work presents two novel solvers for estimating the relative poses among views with known vertical directions. The vertical directions of camera views can be easily obtained using inertial measurement units (IMUs) which have been widely…
3D maps are increasingly useful for many applications such as drone navigation, emergency services, and urban planning. However, creating 3D maps and keeping them up-to-date using existing technologies, such as laser scanners, is expensive.…
Reliable self-localization is a foundational skill for many intelligent mobile platforms. This paper explores the use of event cameras for motion tracking thereby providing a solution with inherent robustness under difficult dynamics and…
We present a generic algorithm for performing astronomical image registration and pointing refinement. The method is based on matching the positions and fluxes of available point sources in image overlap regions. This information is used to…
Connected and cooperative driving requires precise calibration of the roadside infrastructure for having a reliable perception system. To solve this requirement in an automated manner, we present a robust extrinsic calibration method for…
Image alignment plays a crucial role in solar physics research, primarily involving translation, rotation, and scaling. \G{The different wavelength images of the chromosphere and transition region have structural complexity and differences…
This paper presents a novel approach for vehicle localization by leveraging the ambient magnetic field within a given environment. Our approach involves introducing a global mathematical function for magnetic field mapping, combined with…
The availability of the Global Positioning System (GPS) trajectory data is increasing along with the availability of different GPS receivers and with the increasing use of various mobility services. GPS trajectory is an important data…