Related papers: Robust Image Retrieval-based Visual Localization u…
This paper presents a general framework integrating vision and acoustic sensor data to enhance localization and mapping in highly dynamic and complex underwater environments, with a particular focus on fish farming. The proposed pipeline is…
This paper proposes a novel algorithm for vehicle speed-aided monocular visual-inertial localization using a topological map. The proposed system aims to address the limitations of existing methods that rely heavily on expensive sensors…
The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…
Visual Place Recognition (VPR) is a critical task in computer vision, traditionally enhanced by re-ranking retrieval results with image matching. However, recent advancements in VPR methods have significantly improved performance,…
Place recognition is a challenging task in computer vision, crucial for enabling autonomous vehicles and robots to navigate previously visited environments. While significant progress has been made in learnable multimodal methods that…
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…
Robot localization remains a challenging task in GPS denied environments. State estimation approaches based on local sensors, e.g. cameras or IMUs, are drifting-prone for long-range missions as error accumulates. In this study, we aim to…
Robust feature representation plays significant role in visual tracking. However, it remains a challenging issue, since many factors may affect the experimental performance. The existing method which combine different features by setting…
Despite the remarkable advances in image matching and pose estimation, image-based localization of a camera in a temporally-varying outdoor environment is still a challenging problem due to huge appearance disparity between query and…
Beyond novel view synthesis, Neural Radiance Fields are useful for applications that interact with the real world. In this paper, we use them as an implicit map of a given scene and propose a camera relocalization algorithm tailored for…
Place recognition using SOund Navigation and Ranging (SONAR) images is an important task for simultaneous localization and mapping(SLAM) in underwater environments. This paper proposes a robust and efficient imaging SONAR based place…
Localizing an image wrt. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots…
Robot localization is a fundamental component of autonomous navigation in unknown environments. Among various sensing modalities, visual input from cameras plays a central role, enabling robots to estimate their position by tracking point…
High-precision localization is pivotal in underwater reinspection missions. Traditional localization methods like inertial navigation systems, Doppler velocity loggers, and acoustic positioning face significant challenges and are not…
The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…
Localization is a critical technology in autonomous driving, encompassing both topological localization, which identifies the most similar map keyframe to the current observation, and metric localization, which provides precise spatial…
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…
Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…
In complex environments, low-cost and robust localization is a challenging problem. For example, in a GPSdenied environment, LiDAR can provide accurate position information, but the cost is high. In general, visual SLAM based localization…
In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…