Related papers: iSimLoc: Visual Global Localization for Previously…
The core problem of visual multi-robot simultaneous localization and mapping (MR-SLAM) is how to efficiently and accurately perform multi-robot global localization (MR-GL). The difficulties are two-fold. The first is the difficulty of…
Robust place recognition is essential for reliable localization in robotics, particularly in complex environments with frequent indoor-outdoor transitions. However, existing LiDAR-based datasets often focus on outdoor scenarios and lack…
In this letter, we introduce GroundLoc, a LiDAR-only localization pipeline designed to localize a mobile robot in large-scale outdoor environments using prior maps. GroundLoc employs a Bird's-Eye View (BEV) image projection focusing on the…
Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…
Cross-modal place recognition methods are flexible GPS-alternatives under varying environment conditions and sensor setups. However, this task is non-trivial since extracting consistent and robust global descriptors from different…
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…
In Large Visual Language Models (LVLMs), the efficacy of In-Context Learning (ICL) remains limited by challenges in cross-modal interactions and representation disparities. To overcome these challenges, we introduce a novel Visual…
Global localization is essential for robot navigation, of which the first step is to retrieve a query from the map database. This problem is called place recognition. In recent years, LiDAR scan based place recognition has drawn attention…
Where am I? This is one of the most critical questions that any intelligent system should answer to decide whether it navigates to a previously visited area. This problem has long been acknowledged for its challenging nature in simultaneous…
In this paper, given a small bag of images, each containing a common but latent predicate, we are interested in localizing visual subject-object pairs connected via the common predicate in each of the images. We refer to this novel problem…
Visual localization is the task of estimating a 6-DoF camera pose of a query image within a provided 3D reference map. Thanks to recent advances in various 3D sensors, 3D point clouds are becoming a more accurate and affordable option for…
This paper addresses the problem of unsupervised object localization in an image. Unlike previous supervised and weakly supervised algorithms that require bounding box or image level annotations for training classifiers in order to learn…
This paper describes a multi-modal data association method for global localization using object-based maps and camera images. In global localization, or relocalization, using object-based maps, existing methods typically resort to matching…
With the spread of tampered images, locating the tampered regions in digital images has drawn increasing attention. The existing image tampering localization methods, however, suffer from severe performance degradation when the tampered…
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…
Visual localization is a key step in many robotics pipelines, allowing the robot to (approximately) determine its position and orientation in the world. An efficient and scalable approach to visual localization is to use image retrieval…
Worldwide image geo-localization aims to infer the geographic location of an image captured anywhere on Earth, spanning street, city, regional, national, and continental scales. Existing methods rely on visual features that are sensitive to…
We present RELOCATE, a simple training-free baseline designed to perform the challenging task of visual query localization in long videos. To eliminate the need for task-specific training and efficiently handle long videos, RELOCATE…
Localization is one of the core parts of modern robotics. Classic localization methods typically follow the retrieve-then-register paradigm, achieving remarkable success. Recently, the emergence of end-to-end localization approaches has…
Visual localization techniques often comprise a hierarchical localization pipeline, with a visual place recognition module used as a coarse localizer to initialize a pose refinement stage. While improving the pose refinement step has been…