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This work presents two complementary real-time rail vehicle localization methods based on magnetic field measurements and a pre-recorded magnetic map. The first uses a particle filter reweighted via magnetic similarity, employing a…
A {\em relativistic positioning system} consists in a set of four clocks broadcasting their respective proper time by means of light signals. Among them, the more important ones are the {\em auto-located positioning systems,} in which every…
In this letter, the localization of terrestrial nodes when unmanned aerial vehicles (UAVs) are used as base stations is investigated. Particularly, a novel localization scenario based on received signal strength (RSS) from terrestrial nodes…
The process of tracking human anatomy in computer vision is referred to pose estimation, and it is used in fields ranging from gaming to surveillance. Three-dimensional pose estimation traditionally requires advanced equipment, such as…
Tracking the 6D pose of objects in video sequences is important for robot manipulation. This work presents se(3)-TrackNet, a data-driven optimization approach for long term, 6D pose tracking. It aims to identify the optimal relative pose…
In this study, we address multi-robot localization issues, with a specific focus on cooperative localization and observability analysis of relative pose estimation. Cooperative localization involves enhancing each robot's information…
Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…
Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in…
Visual Place Recognition (VPR) enables robots and autonomous vehicles to identify previously visited locations by matching current observations against a database of known places. However, VPR systems face significant challenges when…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
We introduce GoTrack, an efficient and accurate CAD-based method for 6DoF object pose refinement and tracking, which can handle diverse objects without any object-specific training. Unlike existing tracking methods that rely solely on an…
Improving and homogenizing time and space reference systems on Earth and, more directly, realizing the Terrestrial Reference Frame (TRF) with an accuracy of 1mm and a long-term stability of 0.1mm/year are relevant for many scientific and…
We propose a method for accurately localizing ground vehicles with the aid of satellite imagery. Our approach takes a ground image as input, and outputs the location from which it was taken on a georeferenced satellite image. We perform…
One of the most critical topics in autonomous driving or ride-sharing technology is to accurately localize vehicles in the world frame. In addition to common multi-view camera systems, it usually also relies on industrial grade sensors,…
Inaccurate spatial tracking in extended reality (XR) devices leads to virtual object jitter, misalignment, and user discomfort, fundamentally limiting immersive experiences and natural interactions. In this work, we introduce a novel…
For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…
We present a framework for evaluating 6-DoF instance-level object pose estimators, focusing on those that require a single RGB (not RGB-D) image as input. Besides gaining intuition about how accurate these estimators are, we are interested…
Precision pose detection is increasingly demanded in fields such as personal fabrication, Virtual Reality (VR), and robotics due to its critical role in ensuring accurate positioning information. However, conventional vision-based systems…
Localization of magnetically actuated medical robots is essential for accurate actuation, closed loop control and delivery of functionality. Despite extensive progress in the use of magnetic field and inertial measurements for pose…
Global Navigation Satellite Systems typically perform poorly in urban environments, where the likelihood of line-of-sight conditions between devices and satellites is low. Therefore, alternative location methods are required to achieve good…