Related papers: Visual Cross-View Metric Localization with Dense U…
Cross-View Geo-Localization (CVGL) between UAV imagery and satellite images plays a crucial role in target localization and UAV self-positioning. However, most existing methods rely on the idealized assumption of scale consistency between…
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…
In Global Navigation Satellite System (GNSS)-denied environments such as indoor parking structures or dense urban canyons, achieving accurate and robust vehicle positioning remains a significant challenge. This paper proposes a…
Robot control loops require causal pose estimates that depend only on past and present measurements. At each timestep, controllers compute commands using the current pose without waiting for future refinements. While traditional visual SLAM…
This paper introduces a novel approach to enhancing cross-view localization, focusing on the fine-grained, sequential localization of street-view images within a single known satellite image patch, a significant departure from traditional…
Visual perception is regularly used by humans and robots for navigation. By either implicitly or explicitly mapping the environment, ego-motion can be determined and a path of actions can be planned. The process of mapping and navigation…
For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc.. To build a robust exploration and localization system in a…
Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for…
Effective collaboration in multi-robot systems requires accurate and robust estimation of relative localization: from cooperative manipulation to collaborative sensing, and including cooperative exploration or cooperative transportation.…
In this paper we propose a novel method for image matching based on dense local features and tailored for visual geolocalization. Dense local features matching is robust against changes in illumination and occlusions, but not against…
Localization of autonomous unmanned aerial vehicles (UAVs) relies heavily on Global Navigation Satellite Systems (GNSS), which are susceptible to interference. Especially in security applications, robust localization algorithms independent…
Estimating vehicles' locations is one of the key components in intelligent traffic management systems (ITMSs) for increasing traffic scene awareness. Traditionally, stationary sensors have been employed in this regard. The development of…
Cross-view object geo-localization enables high-precision object localization through cross-view matching, with critical applications in autonomous driving, urban management, and disaster response. However, existing methods rely on…
We consider the problem of relative pose regression in visual relocalization. Recently, several promising approaches have emerged in this area. We claim that even though they demonstrate on the same datasets using the same split to train…
Benchmark datasets that measure camera pose accuracy have driven progress in visual re-localisation research. To obtain poses for thousands of images, it is common to use a reference algorithm to generate pseudo ground truth. Popular…
We present a method for localizing a single camera with respect to a point cloud map in indoor and outdoor scenes. The problem is challenging because correspondences of local invariant features are inconsistent across the domains between…
Metric Cross-View Geo-Localization (MCVGL) aims to estimate the 3-DoF camera pose (position and heading) by matching ground and satellite images. In this work, instead of pinhole and satellite images, we study robust MCVGL using holistic…
Cross-view geo-localization identifies the locations of street-view images by matching them with geo-tagged satellite images or OSM. However, most existing studies focus on image-to-image retrieval, with fewer addressing text-guided…
Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational…
In complex environments, low-cost and robust localization is a challenging problem. For example, in a GPSdenied environment, LiDAR can provide accurate position information, but the cost is high. In general, visual SLAM based localization…