Related papers: Hough2Map -- Iterative Event-based Hough Transform…
Event camera is an emerging bio-inspired vision sensors that report per-pixel brightness changes asynchronously. It holds noticeable advantage of high dynamic range, high speed response, and low power budget that enable it to best capture…
High-precision vehicle localization with commercial setups is a crucial technique for high-level autonomous driving tasks. Localization with a monocular camera in LiDAR map is a newly emerged approach that achieves promising balance between…
Map matching has been used to reduce the noisiness of the location estimates by aligning them to the road network on a digital map. A growing number of applications, e.g. energy-efficient localization and cellular provider side…
Graph matching is one of the most significant graph analytic tasks, which aims to find the node correspondence across different graphs. Most existing graph matching approaches mainly rely on topological information, whose performances are…
Today's railway signalling system heavily relies on trackside infrastructure such as axle counters and track balises. This system has proven itself to be reliable, however, it is not very efficient and, moreover, very costly. Thus, it is…
Object pose tracking is a fundamental and essential task for robotics to perform tasks in the home and industrial settings. The most commonly used sensors to do so are RGB-D cameras, which can hit limitations in highly dynamic environments…
This paper presents HoughNet, a one-stage, anchor-free, voting-based, bottom-up object detection method. Inspired by the Generalized Hough Transform, HoughNet determines the presence of an object at a certain location by the sum of the…
Motion and dynamic environments, especially under challenging lighting conditions, are still an open issue for robust robotic applications. In this paper, we propose an end-to-end pipeline for real-time, low latency, 6 degrees-of-freedom…
Estimating 2D camera motion is a fundamental computer vision task that models the projection of 3D camera movements onto the 2D image plane. Current methods rely on either homography-based approaches, limited to planar scenes, or meshflow…
Autonomous driving has long grappled with the need for precise absolute localization, making full autonomy elusive and raising the capital entry barriers for startups. This study delves into the feasibility of local trajectory planning for…
Popular Hough Transform-based object detection approaches usually construct an appearance codebook by clustering local image features. However, how to choose appropriate values for the parameters used in the clustering step remains an open…
Significant geometric structures can be compactly described by global wireframes in the estimation of 3D room layout from a single panoramic image. Based on this observation, we present an alternative approach to estimate the walls in 3D…
Modern driver assistance systems as well as autonomous vehicles take their decisions based on local maps of the environment. These maps include, for example, surrounding moving objects perceived by sensors as well as routes and navigation…
Visual localization remains challenging in dynamic environments where fluctuating lighting, adverse weather, and moving objects disrupt appearance cues. Despite advances in feature representation, current absolute pose regression methods…
Semantic 2D maps are commonly used by humans and machines for navigation purposes, whether it's walking or driving. However, these maps have limitations: they lack detail, often contain inaccuracies, and are difficult to create and…
A key capability for autonomous underground mining vehicles is real-time accurate localisation. While significant progress has been made, currently deployed systems have several limitations ranging from dependence on costly additional…
In recent decades, visual simultaneous localization and mapping (vSLAM) has gained significant interest in both academia and industry. It estimates camera motion and reconstructs the environment concurrently using visual sensors on a moving…
The cameras in modern gaze-tracking systems suffer from fundamental bandwidth and power limitations, constraining data acquisition speed to 300 Hz realistically. This obstructs the use of mobile eye trackers to perform, e.g., low latency…
Hump crossings, or high-profile Highway Railway Grade Crossings (HRGCs), pose safety risks to highway vehicles due to potential hang-ups. These crossings typically result from post-construction railway track maintenance activities or…
Maps provide robots with crucial environmental knowledge, thereby enabling them to perform interactive tasks effectively. Easily accessing accurate abstract-to-detailed geometric and semantic concepts from maps is crucial for robots to make…