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Mapping and localization are crucial problems in robotics and autonomous driving. Recent advances in 3D Gaussian Splatting (3DGS) have enabled precise 3D mapping and scene understanding by rendering photo-realistic images. However, existing…
This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for…
Due to their ubiquity and long-term stability, pole-like objects are well suited to serve as landmarks for vehicle localization in urban environments. In this work, we present a complete mapping and long-term localization system based on…
Robot localization is a one of the most important problems in robotics. Most of the existing approaches assume that the map of the environment is available beforehand and focus on accurate metrical localization. In this paper, we address…
This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…
Long-term scene changes present challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that can provide robust localization against those challenges. Our method starts with activation of a mapping…
Localizing mobile robotic nodes in indoor and GPS-denied environments is a complex problem, particularly in dynamic, unstructured scenarios where traditional cameras and LIDAR-based sensing and localization modalities may fail.…
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,…
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…
Robots navigating indoor environments often have access to architectural plans, which can serve as prior knowledge to enhance their localization and mapping capabilities. While some SLAM algorithms leverage these plans for global…
Field robotics in perceptually-challenging environments require fast and accurate state estimation, but modern LiDAR sensors quickly overwhelm current odometry algorithms. To this end, this paper presents a lightweight frontend LiDAR…
Reliable localization is critical for robot navigation in complex indoor environments. In this paper, we propose an uncertainty-aware localization method that enhances the reliability of localization outputs without modifying the prediction…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
Mobile robots are becoming increasingly important both for individuals and industries. Mobile robotic technology is not only utilised by experts in this field but is also very popular among amateurs. However, implementing a mobile robot to…
Decentralized cooperative localization (DCL) is a promising approach for nonholonomic mobile robots operating in GPS-denied environments with limited communication infrastructure. This paper presents a DCL framework in which each robot…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…
3D global relocalization is one of the key capabilities for mobile robots in practical applications. However, in large scale spaces, existing methods often suffer from prolonged online relocalization time due to factors such as the massive…
A mobile robot's precise location information is critical for navigation and task processing, especially for a multi-robot system (MRS) to collaborate and collect valuable data from the field. However, a robot in situations where it does…
Mobile robots on construction sites require accurate pose estimation to perform autonomous surveying and inspection missions. Localization in construction sites is a particularly challenging problem due to the presence of repetitive…
Relative localization is an important ability for multiple robots to perform cooperative tasks in GPS-denied environment. This paper presents a novel autonomous positioning framework for monocular relative localization of multiple tiny…