Related papers: Localisation And Imaging Methods for Moving Target…
This paper proposes a depth estimation method using radar-image fusion by addressing the uncertain vertical directions of sparse radar measurements. In prior radar-image fusion work, image features are merged with the uncertain sparse…
This paper proposes a novel algorithm for vehicle speed-aided monocular visual-inertial localization using a topological map. The proposed system aims to address the limitations of existing methods that rely heavily on expensive sensors…
Imaging the full-field microvibration of extended targets remains a formidable challenge for conventional remote sensing. Traditional array-based sensors are often severely constrained by data throughput and sensitivity limits when scaling…
Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…
Validation of newly developed optical tissue sensing techniques for tumor detection during cancer surgery requires an accurate correlation with histological results. Additionally, such accurate correlation facilitates precise data labeling…
Ground texture based localization methods are potential prospects for low-cost, high-accuracy self-localization solutions for robots. These methods estimate the pose of a given query image, i.e. the current observation of the ground from a…
We propose a method for accurately localizing ground vehicles with the aid of satellite imagery. Our approach takes a ground image as input, and outputs the location from which it was taken on a georeferenced satellite image. We perform…
It's a practical approach using the ground-aerial collaborative system to enhance the localization robustness of flying robots in cluttered environments, especially when visual sensors degrade. Conventional approaches estimate the flying…
Accurate localization is a foundational capacity, required for autonomous vehicles to accomplish other tasks such as navigation or path planning. It is a common practice for vehicles to use GPS to acquire location information. However, the…
This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…
Navigation of a mobile robot is conditioned on the knowledge of its pose. In observer-based localisation configurations its initial pose may not be knowable in advance, leading to the need of its estimation. Solutions to the problem of…
Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…
Automotive targets undergoing turns in road junctions offer large synthetic apertures over short dwell times to automotive radars that can be exploited for obtaining fine cross-range resolution. Likewise, the wide bandwidths of the…
We study the imaging of a penetrable scatterer, aka target, in a waveguide with randomly perturbed boundary. The target is located between a partially coherent source which transmits the wave, and a detector which measures the spatially…
A comparison of the sensitivities of methods which allow us to determine the coordinates of a moving hot body is made.
This paper proposes the Parallel WiSARD Object Tracker (PWOT), a new object tracker based on the WiSARD weightless neural network that is robust against quantization errors. Object tracking in video is an important and challenging task in…
6D object pose estimation is widely applied in robotic tasks such as grasping and manipulation. Prior methods using RGB-only images are vulnerable to heavy occlusion and poor illumination, so it is important to complement them with depth…
Feature matching is crucial in visual localization, where 2D-3D correspondence plays a major role in determining the accuracy of camera pose. A sufficient number of well-distributed 2D-3D correspondences is essential for accurate pose…
We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…
Given that Visual SLAM relies on appearance cues for localization and scene understanding, texture-less or visually degraded environments (e.g., plain walls or low lighting) lead to poor pose estimation and track loss. However, robots are…