Related papers: Optimization of Directional Landmark Deployment fo…
This paper proposes a method for learning continuous control policies for active landmark localization and exploration using an information-theoretic cost. We consider a mobile robot detecting landmarks within a limited sensing range, and…
Automatic anatomical landmark localization in medical imaging requires not just accurate predictions but reliable uncertainty quantification for effective clinical decision support. Current uncertainty quantification approaches often fall…
In this paper, a deformable object is considered for cameras deployment with the aim of visual coverage. The object contour is discretized into sampled points as meshes, and the deformation is represented as continuous trajectories for the…
We present a novel method for visual mapping and localization for autonomous vehicles, by extracting, modeling, and optimizing semantic road elements. Specifically, our method integrates cascaded deep models to detect standardized road…
Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including self-driving cars, Structure-from-Motion, SLAM, and Mixed Reality.…
In this paper, we present a tightly-coupled visual-inertial object-level multi-instance dynamic SLAM system. Even in extremely dynamic scenes, it can robustly optimise for the camera pose, velocity, IMU biases and build a dense 3D…
Object counting and localization are key steps for quantitative analysis in large-scale microscopy applications. This procedure becomes challenging when target objects are overlapping, are densely clustered, and/or present fuzzy boundaries.…
A geometric nonlinear observer algorithm for Simultaneous Localization and Mapping (SLAM) developed on the Lie group of \mathbb{SLAM}_{n}\left(3\right) is proposed. The presented novel solution estimates the vehicle's pose (i.e. attitude…
Localizing an image wrt. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots…
This work provides a theoretical analysis for optimally solving the pose estimation problem using total least squares for vector observations from landmark features, which is central to applications involving simultaneous localization and…
Face alignment (or facial landmarking) is an important task in many face-related applications, ranging from registration, tracking and animation to higher-level classification problems such as face, expression or attribute recognition.…
In this paper, we address the problem of stochastic motion planning under partial observability, more specifically, how to navigate a mobile robot equipped with continuous range sensors such as LIDAR. In contrast to many existing robotic…
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…
While decoupled control schemes for legged mobile manipulators have shown robustness, learning holistic whole-body control policies for tracking global end-effector poses remains fragile against Out-of-Distribution (OOD) inputs induced by…
Deciding which sensing capabilities to deploy on an agent in uncertain domains is a fundamental engineering challenge, in which one balances task achievability against the high costs of hardware and processing. This problem has previously…
Camera-based visible light positioning (VLP) has emerged as a promising indoor positioning technique. However, the need for dedicated luminaire infrastructure and on-target cameras in existing algorithms may limit their scalability and…
In this paper, we propose an efficient range free localization scheme for large scale three dimensional wireless sensor networks. Our system environment consists of two type of sensors, randomly deployed static sensors and global…
We present a complete map management process for a visual localization system designed for multi-vehicle long- term operations in resource constrained outdoor environments. Outdoor visual localization generates large amounts of data that…
This work proposes a novel approach to reinforce localization security in wireless networks in the presence of malicious nodes that are able to manipulate (spoof) radio measurements. It substitutes the original measurement model by another…
A distributed spatio-temporal information based cooperative positioning (STICP) algorithm is proposed for wireless networks that require three-dimensional (3D) coordinates and operate in the global navigation satellite system (GNSS) denied…