Related papers: Cooperative Vision-based Localization Networks wit…
Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…
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,…
Cooperative vehicle safety (CVS) systems operate based on broadcast of vehicle position and safety information to neighboring cars. The communication medium of CVS is a vehicular ad-hoc network. One of the main challenges in large scale…
Accurate pose estimation is a fundamental ability that all mobile robots must posses in order to traverse robustly in a given environment. Much like a human, this ability is dependent on the robot's understanding of a given scene. For…
Visual localization is a useful alternative to standard localization techniques. It works by utilizing cameras. In a typical scenario, features are extracted from captured images and compared with geo-referenced databases. Location…
This paper presents the development of a system able to estimate the 2D relative position of nodes in a wireless network, based on distance measurements between the nodes. The system uses ultra wide band ranging technology and the Bluetooth…
This paper addresses the problem of vehicle-mounted camera localization by matching a ground-level image with an overhead-view satellite map. Existing methods often treat this problem as cross-view image retrieval, and use learned deep…
This paper addresses the visual localization problem in Global Positioning System (GPS)-denied environments, where computational resources are often limited. To achieve efficient and robust performance under these constraints, we propose a…
Effective collaboration in multi-robot systems requires accurate and robust estimation of relative localization: from cooperative manipulation to collaborative sensing, and including cooperative exploration or cooperative transportation.…
Visual localization on standard-definition (SD) maps has emerged as a promising low-cost and scalable solution for autonomous driving. However, existing regression-based approaches often overlook inherent geometric priors, resulting in…
Accurate positioning is known to be a fundamental requirement for the deployment of Connected Automated Vehicles (CAVs). To meet this need, a new emerging trend is represented by cooperative methods where vehicles fuse information coming…
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…
Modern driver assistance systems rely on a wide range of sensors (RADAR, LIDAR, ultrasound and cameras) for scene understanding and prediction. These sensors are typically used for detecting traffic participants and scene elements required…
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…
One of the most essential prerequisites behind a successful task execution of a team of agents is to accurately estimate and track their poses. We consider a cooperative multi-agent positioning problem where each agent performs single-agent…
An open problem in robotics is that of using vision to identify a robot's own body and the world around it. Many models attempt to recover the traditional C-space parameters. Instead, we propose an alternative C-space by deriving…
We present an online landmark selection method for distributed long-term visual localization systems in bandwidth-constrained environments. Sharing a common map for online localization provides a fleet of au- tonomous vehicles with the…
Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization,…
Localization is expected to play a significant role in future wireless networks as positioning and situational awareness, navigation and tracking, are integral parts of 6G usage scenarios. Nevertheless, in many cases localization requires…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…