Related papers: Indoor 3-Dimensional Visible Light Positioning: Er…

Knowing the exact 3D location of workers and robots in a collaborative environment enables several real applications, such as the detection of unsafe situations or the study of mutual interactions for statistical and social purposes. In…

Safety and automatic control are extremely important when operating manipulators. For large engineering manipulators, the main challenge is to accurately recognize the posture of all arm segments. In classical sensing methods, the accuracy…

Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in advance. We emphasize…

To provide backup and augmentation to global navigation satellite system (GNSS), Doppler shift from Low Earth Orbit (LEO) satellites can be employed as signals of opportunity (SOP) for position, navigation and timing (PNT). Since the…

Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is still a challenge due to the environmental appearance…

Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…

We propose a novel scoring concept for visual place recognition based on nearest neighbor descriptor voting and demonstrate how the algorithm naturally emerges from the problem formulation. Based on the observation that the number of votes…

Computer vision (CV) has achieved great success in interpreting semantic meanings from images, yet CV algorithms can be brittle for tasks with adverse vision conditions and the ones suffering from data/label pair limitation. One of this…

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…

We present a novel method for precise 3D object localization in single images from a single calibrated camera using only 2D labels. No expensive 3D labels are needed. Thus, instead of using 3D labels, our model is trained with…

Central to the application of many multi-view geometry algorithms is the extraction of matching points between multiple viewpoints, enabling classical tasks such as camera pose estimation and 3D reconstruction. Many approaches that…

We propose a fully automated system that simultaneously estimates the camera intrinsics, the ground plane, and physical distances between people from a single RGB image or video captured by a camera viewing a 3-D scene from a fixed vantage…

This article describes a multi-modal method using simulated Lidar data via ray tracing and image pixel loss with differentiable rendering to optimize an object's position with respect to an observer or some referential objects in a computer…

Indoor localization based on Visible Light Communication (VLC) has been in favor with both the academia and industry for years. In this paper, we present a prototyping photodiode-based VLC system towards large-scale localization. Specially,…

We present a system for creating building-scale, easily navigable 3D maps using mainstream smartphones. In our approach, we formulate the 3D-mapping problem as an instance of Graph SLAM and infer the position of both building landmarks…

We devise a graph attention network-based approach for learning a scene triangle mesh representation in order to estimate an image camera position in a dynamic environment. Previous approaches built a scene-dependent model that explicitly…

Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…

We propose an automatic method to infer high dynamic range illumination from a single, limited field-of-view, low dynamic range photograph of an indoor scene. In contrast to previous work that relies on specialized image capture, user…

Vision-Language Models (VLMs) exhibit strong visual reasoning capabilities, yet they still struggle with 3D understanding. In particular, VLMs often fail to infer a text-consistent goal 6D pose of a target object in a 3D scene. However, we…

A major element of depth perception and 3D understanding is the ability to predict the 3D layout of a scene and its contained objects for a novel pose. Indoor environments are particularly suitable for novel view prediction, since the set…