Related papers: Vision-Based Real-Time Indoor Positioning System f…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
This paper presents LIPS, a Light Intensity based Positioning System for indoor environments. The system uses off-the-shelf LED lamps as signal sources, and uses light sensors as signal receivers. The design is inspired by the observation…
High precision localization is a crucial requirement for the autonomous driving system. Traditional positioning methods have some limitations in providing stable and accurate vehicle poses, especially in an urban environment. Herein, we…
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…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
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…
A robust estimation of road course and traffic lanes is an essential part of environment perception for next generations of Advanced Driver Assistance Systems and development of self-driving vehicles. In this paper, a flexible method for…
Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS. In this work, we are concerned with estimating the pose…
This paper proposes a novel framework for real-time localization and egomotion tracking of a vehicle in a reference map. The core idea is to map the semantic objects observed by the vehicle and register them to their corresponding objects…
The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…
Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…
Accurate lane localization and lane change detection are crucial in advanced driver assistance systems and autonomous driving systems for safer and more efficient trajectory planning. Conventional localization devices such as Global…
We propose a real-time method to estimate spatiallyvarying indoor lighting from a single RGB image. Given an image and a 2D location in that image, our CNN estimates a 5th order spherical harmonic representation of the lighting at the given…
In this paper, a novel method for vision-aided navigation based on trifocal tensor is presented. The main goal of the proposed method is to provide position estimation in GPS-denied environments for vehicles equipped with a standard…
Line scanning cameras, which capture only a single line of pixels, have been increasingly used in ground based mobile or robotic platforms. In applications where it is advantageous to directly georeference the camera data to world…
Given an image sequence featuring a portion of a sports field filmed by a moving and uncalibrated camera, such as the one of the smartphones, our goal is to compute automatically in real time the focal length and extrinsic camera parameters…
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…
We address the problem of finding the current position and heading angle of an autonomous vehicle in real-time using a single camera. Compared to methods which require LiDARs and high definition (HD) 3D maps in real-time, the proposed…
Visual localization is an essential component of intelligent transportation systems, enabling broad applications that require understanding one's self location when other sensors are not available. It is mostly tackled by image retrieval…
The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-agent range measurements are available at a low cost, due to…