Related papers: Generic Merging of Structure from Motion Maps with…
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…
One major bottleneck in the practical implementation of received signal strength (RSS) based indoor localization systems is the extensive deployment efforts required to construct the radio maps through fingerprinting. In this paper, we aim…
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…
Autonomous driving perceives surroundings with line-of-sight sensors that are compromised under environmental uncertainties. To achieve real time global information in high definition map, we investigate to share perception information…
Robotic systems demand accurate and comprehensive 3D environment perception, requiring simultaneous capture of photo-realistic appearance (optical), precise layout shape (geometric), and open-vocabulary scene understanding (semantic).…
This paper proposes a novel approach to map-based navigation system for unmanned aircraft. The proposed system attempts label-to-label matching, not image-to-image matching, between aerial images and a map database. The ground objects can…
With the aim of bridging the gap between high quality reconstruction and mobile robot motion planning, we propose an efficient system that leverages the concept of adaptive-resolution volumetric mapping, which naturally integrates with the…
The increased availability of interactive maps on the Internet and on personal mobile devices has created new challenges in computational cartography and, in particular, for label placement in maps. Operations like rotation, zoom, and…
Topological maps are favorable for their small storage compared to geometric map. However, they are limited in relocalization and path planning capabilities. To solve this problem, a feature-based hierarchical topological map (FHT-Map) is…
We introduce Ground-Fusion, a low-cost sensor fusion simultaneous localization and mapping (SLAM) system for ground vehicles. Our system features efficient initialization, effective sensor anomaly detection and handling, real-time dense…
Most existing motion planning algorithms assume that a map (of some quality) is fully determined prior to generating a motion plan. In many emerging applications of robotics, e.g., fast-moving agile aerial robots with constrained embedded…
In this paper, we present a flexible and probabilistic framework for tracking topological features in time-varying scalar fields using merge trees and partial optimal transport. Merge trees are topological descriptors that record the…
The growing use of probe vehicles generates a huge number of GNSS data. Limited by the satellite positioning technology, further improving the accuracy of map-matching is challenging work, especially for low-frequency trajectories. When…
In the fast developing countries it is hard to trace new buildings construction or old structures destruction and, as a result, to keep the up-to-date cadastre maps. Moreover, due to the complexity of urban regions or inconsistency of data…
Structure-from-Motion (SfM), a task aiming at jointly recovering camera poses and 3D geometry of a scene given a set of images, remains a hard problem with still many open challenges despite decades of significant progress. The traditional…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
We propose ORBSLAM-Atlas, a system able to handle an unlimited number of disconnected sub-maps, that includes a robust map merging algorithm able to detect sub-maps with common regions and seamlessly fuse them. The outstanding robustness…
Motion estimation across low-resolution frames and the reconstruction of high-resolution images are two coupled subproblems of multi-frame super-resolution. This paper introduces a new joint optimization approach for motion estimation and…
Location-aware applications play an increasingly critical role in everyday life. However, satellite-based localization (e.g., GPS) has limited accuracy and can be unusable in dense urban areas and indoors. We introduce an image-based global…
Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments. When ambiguous measurements arise, conservatism often mandates that the measurement is…