Related papers: Non-Point Visible Light Transmitter Localization b…
Light-weight camera localization in existing maps is essential for vision-based navigation. Currently, visual and visual-inertial odometry (VO\&VIO) techniques are well-developed for state estimation but with inevitable accumulated drifts…
This paper addresses the problem of vision-based pedestrian localization, which estimates a pedestrian's location using images and camera parameters. In practice, however, calibrated camera parameters often deviate from the ground truth,…
Visible Light Communication (VLC) is emerging as a means to network computing devices that ameliorates many hurdles of radio-frequency (RF) communications, for example, the limited available spectrum. Enabling VLC in wearable computing,…
This paper introduces an underwater multi-robot platform, named Aucamp, characterized by cost-effective monocular-camera-based sensing, distributed protocol and robust orientation control for localization. We utilize the clarity feature to…
We present VLPG-Nav, a visual language navigation method for guiding robots to specified objects within household scenes. Unlike existing methods primarily focused on navigating the robot toward objects, our approach considers the…
Monocular depth estimation is a highly challenging problem that is often addressed with deep neural networks. While these are able to use recognition of image features to predict reasonably looking depth maps the result often has low metric…
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…
Cross-modal place recognition methods are flexible GPS-alternatives under varying environment conditions and sensor setups. However, this task is non-trivial since extracting consistent and robust global descriptors from different…
The directionality of optical signals provides an opportunity for efficient space reuse of optical links in visible light communication (VLC). Space reuse in VLC can enable multiple access communication from multiple light emitting…
The world is often stricken by catastrophic disasters. On-demand drone-mounted visible light communication (VLC) networks are suitable for monitoring disaster-stricken areas for leveraging disaster-response operations. The concept of an…
Self-localization on a 3D map by using an inexpensive monocular camera is required to realize autonomous driving. Self-localization based on a camera often uses a convolutional neural network (CNN) that can extract local features that are…
Indoor positioning systems using visible light communication (VLC) have potential applications in smart buildings, for instance, in developing economical, easy-to-use, widely accessible positioning system based on light-emitting diodes.…
An optimization method is proposed in this paper for novel deployment of given number of directional landmarks (location and pose) within a given region in the 3-D task space. This new deployment technique is built on the geometric models…
We investigate a nonlinear localization microscopy method based on Rabi oscillations of single emitters. We demonstrate the fundamental working principle of this new technique using a cryogenic far-field experiment in which subwavelength…
Blind Perspective-n-Point (PnP) is the problem of estimating the position and orientation of a camera relative to a scene, given 2D image points and 3D scene points, without prior knowledge of the 2D-3D correspondences. Solving for pose and…
Visible light communication (VLC) is expected to be a key component of future wireless networks due to its abundant license-free spectrum, inherent high-level security, and the already deployed lighting infrastructure. VLC performance,…
This paper proposes a method for topological mapping and navigation using a monocular camera. Based on AnyLoc, keyframes are converted into descriptors to construct topological relationships, enabling loop detection and map building. Unlike…
Indoor localization is one of the crucial enablers for deployment of service robots. Although several successful techniques for indoor localization have been proposed, the majority of them relies on maps generated from data gathered with…
Indoor localization systems based on Visible Light Communication (VLC) have shown promising advantages compared with systems based on other wireless technologies. In these systems, many VLC light-emitting diode (LED) anchors are employed in…
Monocular 3D object detection is well-known to be a challenging vision task due to the loss of depth information; attempts to recover depth using separate image-only approaches lead to unstable and noisy depth estimates, harming 3D…