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An algorithm for pose and motion estimation using corresponding features in omnidirectional images and a digital terrain map is proposed. In previous paper, such algorithm for regular camera was considered. Using a Digital Terrain (or…
Current robotic grasping methods often rely on estimating the pose of the target object, explicitly predicting grasp poses, or implicitly estimating grasp success probabilities. In this work, we propose a novel approach that directly maps…
Vision based object grasping and manipulation in robotics require accurate estimation of object's 6D pose. The 6D pose estimation has received significant attention in computer vision community and multiple datasets and evaluation metrics…
We propose three novel metrics for evaluating the accuracy of a set of estimated camera poses given the ground truth: Translation Alignment Score (TAS), Rotation Alignment Score (RAS), and Pose Alignment Score (PAS). The TAS evaluates the…
Global Positioning System (GPS) is a satellite network that transmits regularly encoded information and makes it possible to pinpoint the exact location on Earth by measuring the distance between satellites and the receiver. While GPS…
Global navigation satellite systems readily provide accurate position information when localizing a robot outdoors. However, an analogous standard solution does not exist yet for mobile robots operating indoors. This paper presents an…
Directly regressing all 6 degrees-of-freedom (6DoF) for the object pose (e.g. the 3D rotation and translation) in a cluttered environment from a single RGB image is a challenging problem. While end-to-end methods have recently demonstrated…
In recent years, the mobile robot has been the concern of numerous researcher since they are widely applied in various fields of daily life. This paper applies a virtual robot operating system (ROS) platform to develop a localization system…
This paper addresses the problem of estimating the 3-DoF camera pose for a ground-level image with respect to a satellite image that encompasses the local surroundings. We propose a novel end-to-end approach that leverages the learning of…
Accurately generating ground truth (GT) trajectories is essential for Simultaneous Localization and Mapping (SLAM) evaluation, particularly under varying environmental conditions. This study introduces a systematic approach employing a…
Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for two views of generalized cameras. In this paper, we present several minimal solvers that use six PCs to…
Commercial visual-inertial odometry (VIO) systems have been gaining attention as cost-effective, off-the-shelf six degrees of freedom (6-DoF) ego-motion tracking methods for estimating accurate and consistent camera pose data, in addition…
We present a new dataset for 6-DoF pose estimation of known objects, with a focus on robotic manipulation research. We propose a set of toy grocery objects, whose physical instantiations are readily available for purchase and are…
We propose an automatic method for pose and motion estimation against a ground surface for a ground-moving robot-mounted monocular camera. The framework adopts a semi-dense approach that benefits from both a feature-based method and an…
We present VERF, a collection of two methods (VERF-PnP and VERF-Light) for providing runtime assurance on the correctness of a camera pose estimate of a monocular camera without relying on direct depth measurements. We leverage the ability…
This paper, for the first time, presents a terrain-based localization approach using sensor data from an active suspension system. The contribution is four-fold. First, it is shown that a location dependent road height profile can be…
To meet the urgent need for sub-second link establishment in inter-satellite and satellite-to-ground free space optical communication, this paper presents a periscope-type optical communication terminal and a ground-based verification…
We present an accurate and robust method for six degree of freedom image localization. There are two key-points of our method, 1. automatic immense photo synthesis and labeling from point cloud model and, 2. pose estimation with deep…
Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…
For reliable operation, next generation autonomous agents will need enhanced situational perception as well as precise navigation capabilities. The global navigation satellite system (GNSS) signals that are utilized by practically all…