Related papers: Robust Image Retrieval-based Visual Localization u…
Building on progress in feature representations for image retrieval, image-based localization has seen a surge of research interest. Image-based localization has the advantage of being inexpensive and efficient, often avoiding the use of 3D…
This paper introduces a visual-based localization method for autonomous vehicles (AVs) that operate in the absence of any complicated hardware system but a single camera. Visual localization refers to techniques that aim to find the…
Visual place recognition algorithms trade off three key characteristics: their storage footprint, their computational requirements, and their resultant performance, often expressed in terms of recall rate. Significant prior work has…
Cross-modal place recognition methods are flexible GPS-alternatives under varying environment conditions and sensor setups. However, this task is non-trivial since extracting consistent and robust global descriptors from different…
We present a novel multi-altitude camera pose estimation system, addressing the challenges of robust and accurate localization across varied altitudes when only considering sparse image input. The system effectively handles diverse…
Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…
In this paper, we propose a monocular visual localization pipeline leveraging semantic and depth cues. We apply semantic consistency evaluation to rank the image retrieval results and a practical clustering technique to reject estimation…
Visual-based recognition, e.g., image classification, object detection, etc., is a long-standing challenge in computer vision and robotics communities. Concerning the roboticists, since the knowledge of the environment is a prerequisite for…
Where am I? This is one of the most critical questions that any intelligent system should answer to decide whether it navigates to a previously visited area. This problem has long been acknowledged for its challenging nature in simultaneous…
Existing visual localization methods are typically either 2D image-based, which are easy to build and maintain but limited in effective geometric reasoning, or 3D structure-based, which achieve high accuracy but require a centralized…
Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational…
Video Captioning (VC) is a challenging multi-modal task since it requires describing the scene in language by understanding various and complex videos. For machines, the traditional VC follows the…
Finding a particular object in a display is important for viewers in many visualizations, for example, when reacting to brushing or to a highlighted object. This can be enabled by making the target object different in one of the visual…
Outdoor visual localization is a crucial component to many computer vision systems. We propose an approach to localization from images that is designed to explicitly handle the strong variations in appearance happening between daytime and…
Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is still a challenge due to the environmental appearance…
This technical report introduces CyberLoc, an image-based visual localization pipeline for robust and accurate long-term pose estimation under challenging conditions. The proposed method comprises four modules connected in a sequence.…
Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…
Camera pose estimation in large-scale environments is still an open question and, despite recent promising results, it may still fail in some situations. The research so far has focused on improving subcomponents of estimation pipelines, to…
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…