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There is a growing need for vehicle positioning information to support Advanced Driver Assistance Systems (ADAS), Connectivity (V2X), and Automated Driving (AD) features. These range from a need for road determination (<5 meters), lane…
Robust, high-precision global localization is fundamental to a wide range of outdoor robotics applications. Conventional fusion methods use low-accuracy pseudorange based GNSS measurements ($>>5m$ errors) and can only yield a coarse…
Estimating robot pose from RGB images is a crucial problem in computer vision and robotics. While previous methods have achieved promising performance, most of them presume full knowledge of robot internal states, e.g. ground-truth robot…
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…
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…
Camera, and associated with its objects within the field of view, localization could benefit many computer vision fields, such as autonomous driving, robot navigation, and augmented reality (AR). In this survey, we first introduce specific…
Positioning problem can be solved with several approaches in 5G. This paper introduces RT (Ray Tracing) technique for small-cell Outdoor positioning and tracking for systems with distributed architecture with multipath processing gain.…
The key motivation for the low-frequency magnetic localization approach is that magnetic near-fields are well predictable by a free-space model, which should enable accurate localization. Yet, limited accuracy has been reported for…
Monocular depth estimation is a critical task for autonomous driving and many other computer vision applications. While significant progress has been made in this field, the effects of viewpoint shifts on depth estimation models remain…
We present a novel data set made up of omnidirectional video of multiple objects whose centroid positions are annotated automatically. Omnidirectional vision is an active field of research focused on the use of spherical imagery in video…
Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose…
The paper presents a concept of a dynamic accuracy estimation method, in which the localization errors are derived based on the measurement results used by the positioning algorithm. The concept was verified experimentally in a…
We present a robust deep learning based 6 degrees-of-freedom (DoF) localization system for endoscopic capsule robots. Our system mainly focuses on localization of endoscopic capsule robots inside the GI tract using only visual information…
This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. Nine high-resolution cameras and two 32-beam 3D Lidars were used…
We present a robust and precise localization system that achieves centimeter-level localization accuracy in disparate city scenes. Our system adaptively uses information from complementary sensors such as GNSS, LiDAR, and IMU to achieve…
Accurate precise positioning at millimeter wave frequencies is possible due to the large available bandwidth that permits precise on-the-fly time of flight measurements using conventional air interface standards. In addition, narrow antenna…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
Augmented reality assembly guidance is essential for intelligent manufacturing and medical applications, requiring continuous measurement of the 6DoF poses of manipulated objects. Although current tracking methods have made significant…
To measure system states and local environment directly with high precision, expensive sensors are required. However, highly accurate system states and environmental perception can also be achieved using data fusion techniques and digital…
Navigation and trajectorial estimation of maritime vessels are contingent upon the context of positional accuracy. Even the smallest deviations in the estimation of a given vessel may result in detrimental consequences in terms of economic…