Related papers: Ground Texture Based Localization Using Compact Bi…
Ground texture localization using a downward-facing camera offers a low-cost, high-precision localization solution that is robust to dynamic environments and requires no environmental modification. We present a significantly improved…
Accurate localisation in planetary robotics enables the advanced autonomy required to support the increased scale and scope of future missions. The successes of the Ingenuity helicopter and multiple planetary orbiters lay the groundwork for…
When a vehicle observes another one, the two vehicles' poses are correlated by this spatial relative observation, which can be used in cooperative localization for further increasing localization accuracy and precision. To use spatial…
Accurate localization is fundamental to a variety of applications, such as navigation, robotics, autonomous driving, and Augmented Reality (AR). Different from incremental localization, global localization has no drift caused by error…
A simple method to generate a two-dimensional binary grid pattern, which allows for absolute and accurate self-location in a finite planar region, is proposed. The pattern encodes position information in a local way so that reading a small…
Long-term metric self-localization is an essential capability of autonomous mobile robots, but remains challenging for vision-based systems due to appearance changes caused by lighting, weather, or seasonal variations. While…
Localization of a robotic system within a previously mapped environment is important for reducing estimation drift and for reusing previously built maps. Existing techniques for geometry-based localization have focused on the description of…
This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo-tracking methods offer…
The goal of object detection is to find objects in an image. An object detector accepts an image and produces a list of locations as $(x,y)$ pairs. Here we introduce a new concept: {\bf location-based boosting}. Location-based boosting…
Vision based solutions for the localization of vehicles have become popular recently. We employ an image retrieval based visual localization approach. The database images are kept with GPS coordinates and the location of the retrieved…
Path planning algorithms for unmanned aerial or ground vehicles, in many surveillance applications, rely on Global Positioning System (GPS) information for localization. However, disruption of GPS signals, by intention or otherwise, can…
The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…
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…
Localization in the environment is an essential navigational capability for animals and mobile robots. In the indoor environment, the global localization problem remains challenging to be perfectly solved with probabilistic methods.…
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…
Image forgery localization is a very active and open research field for the difficulty to handle the large variety of manipulations a malicious user can perform by means of more and more sophisticated image editing tools. Here, we propose a…
The growing popularity of autonomous systems creates a need for reliable and efficient metric pose retrieval algorithms. Currently used approaches tend to rely on nearest neighbor search of binary descriptors to perform the 2D-3D matching…
We present a novel method for local image feature matching. Instead of performing image feature detection, description, and matching sequentially, we propose to first establish pixel-wise dense matches at a coarse level and later refine the…
Accurate localization represents a fundamental challenge in robotic navigation. Traditional methodologies, such as Lidar or QR-code based systems, suffer from inherent scalability and adaptability con straints, particularly in complex…
In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…