Related papers: Continuous Self-Localization on Aerial Images Usin…
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…
For connected vehicles to have a substantial effect on road safety, it is required that accurate positions and trajectories can be shared. To this end, all vehicles must be accurately geolocalized in a common frame. This can be achieved by…
Accurate localization using visual information is a critical yet challenging task, especially in urban environments where nearby buildings and construction sites significantly degrade GNSS (Global Navigation Satellite System) signal…
The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…
Localization without Global Navigation Satellite Systems (GNSS) is a critical functionality in autonomous operations of unmanned aerial vehicles (UAVs). Vision-based localization on a known map can be an effective solution, but it is…
Despite the significant progress in 6-DoF visual localization, researchers are mostly driven by ground-level benchmarks. Compared with aerial oblique photography, ground-level map collection lacks scalability and complete coverage. In this…
On the off-the-shelf navigational assistance devices, the localization precision is limited to the signal error of global navigation satellite system (GNSS). During travelling outdoors, the inaccurately localization perplexes visually…
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…
Accurate localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, therefore, eliminate long-term drift. However, fusing GNSS…
Visual Teach and Repeat has shown relative navigation is a robust and efficient solution for autonomous vision-based path following in difficult environments. Adding additional absolute sensors such as Global Navigation Satellite Systems…
In dynamic environments, the ability to detect and track moving objects in real-time is crucial for autonomous robots to navigate safely and effectively. Traditional methods for dynamic object detection rely on high accuracy odometry and…
Perception of other road users is a crucial task for intelligent vehicles. Perception systems can use on-board sensors only or be in cooperation with other vehicles or with roadside units. In any case, the performance of perception systems…
Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…
Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. Over the last two decades, LiDAR scanners have become the standard sensor for robot…
This paper introduces a cost effective localization system combining monocular visual odometry , augmented reality (AR) poses, and integrated INS-GPS data. We address monocular VO scale factor issues using AR poses and enhance accuracy with…
Drone-view geo-localization aims to match a query drone image, often captured under adverse weather conditions (e.g., rain, snow, fog), against a gallery of geo-tagged satellite images. Weather-induced degradations in the drone view, such…
Camera localization is a fundamental and key component of autonomous driving vehicles and mobile robots to localize themselves globally for further environment perception, path planning and motion control. Recently end-to-end approaches…
Research in the field of autonomous Unmanned Aerial Vehicles (UAVs) has significantly advanced in recent years, mainly due to their relevance in a large variety of commercial, industrial, and military applications. However, UAV navigation…
Accurate and robust localization remains a significant challenge for autonomous vehicles. The cost of sensors and limitations in local computational efficiency make it difficult to scale to large commercial applications. Traditional…
We address the problem of estimating the pose and shape of vehicles from LiDAR scans, a common problem faced by the autonomous vehicle community. Recent work has tended to address pose and shape estimation separately in isolation, despite…