Related papers: Single View Geocentric Pose in the Wild
Recent developments and research in modern machine learning have led to substantial improvements in the geospatial field. Although numerous deep learning architectures and models have been proposed, the majority of them have been solely…
We describe a robotic learning system for autonomous exploration and navigation in diverse, open-world environments. At the core of our method is a learned latent variable model of distances and actions, along with a non-parametric…
Real-world weather conditions are intricate and often occur concurrently. However, most existing restoration approaches are limited in their applicability to specific weather conditions in training data and struggle to generalize to unseen…
Visual localization is the problem of estimating the position and orientation from which a given image (or a sequence of images) is taken in a known scene. It is an important part of a wide range of computer vision and robotics…
A recent report from the World Meteorological Organization (WMO) highlights that water-related disasters have caused the highest human losses among natural disasters over the past 50 years, with over 91\% of deaths occurring in low-income…
We present a derivation for estimating the roll and pitch orientation of a partially calibrated camera mounted above a planar surface, using minimal scene information. Specifically, we assume known intrinsic parameters and a fixed height…
Many machine learning methods operate by inverting a neural network at inference time, which has become a popular technique for solving inverse problems in computer vision, robotics, and graphics. However, these methods often involve…
This paper introduces a new analytical method for the determination of the coverage area modeling the Earth as an oblate ellipsoid of rotation. Starting from the knowledge of the satellite's position vector and the direction of the…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
We present a novel method for recovering world-grounded human motion from monocular video. The main challenge lies in the ambiguity of defining the world coordinate system, which varies between sequences. Previous approaches attempt to…
Global visual geolocation predicts where an image was captured on Earth. Since images vary in how precisely they can be localized, this task inherently involves a significant degree of ambiguity. However, existing approaches are…
Many public buildings provide floorplans with a "you are here" indicator to help visitors orient themselves. Floorplan localization seeks to computationally replicate this capability by determining where visual observations were captured…
In this paper, we introduce a novel approach to fine-grained cross-view geo-localization. Our method aligns a warped ground image with a corresponding GPS-tagged satellite image covering the same area using homography estimation. We first…
This paper presents a new method to recover the relative pose between two images, using three points and the vertical direction information. The vertical direction can be determined in two ways: 1- using direct physical measurement like IMU…
For many robotic manipulation and contact tasks, it is crucial to accurately estimate uncertain object poses, for which certain geometry and sensor information are fused in some optimal fashion. Previous results for this problem primarily…
LiDAR-based SLAM is recognized as one effective method to offer localization guidance in rough environments. However, off-the-shelf LiDAR-based SLAM methods suffer from significant pose estimation drifts, particularly components relevant to…
The ability for a moving agent to localize itself in environment is the basic demand for emerging applications, such as autonomous driving, etc. Many existing methods based on multiple sensors still suffer from drift. We propose a scheme…
For autonomous navigation, accurate localization with respect to a map is needed. In urban environments, infrastructure such as buildings or bridges cause major difficulties to Global Navigation Satellite Systems (GNSS) and, despite…
Sky imaging systems use lenses to acquire images concentrating light beams in a sensor. The light beams received by the sky imager have an elevation angle with respect to the device normal. Thus, the pixels in the image contain information…
Light Detection and Ranging (LiDAR) are fast emerging sensors in the field of Earth Observation. It is a remote sensing technology that utilizes laser beams to measure distances and create detailed three-dimensional representations of…