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Subspace identification method (SIM) has been proven to be very useful and numerically robust for estimating state-space models. However, it is in general not believed to be as accurate as the prediction error method (PEM). Conversely, PEM,…

3D visual grounding (3DVG) aims to locate objects in a 3D scene with natural language descriptions. Supervised methods have achieved decent accuracy, but have a closed vocabulary and limited language understanding ability. Zero-shot methods…

We present a real-time tracking SLAM system that unifies efficient camera tracking with photorealistic feature-enriched mapping using 3D Gaussian Splatting (3DGS). Our main contribution is integrating dense feature rasterization into the…

This article presents a new set representation named the hybrid zonotope that is equivalent to the union of $2^N$ constrained zonotopes -- convex polytopes -- through the addition of $N$ binary zonotope factors. The major contribution of…

This paper proposes schemes for automated and weighted Self-Organizing Time Maps (SOTMs). The SOTM provides means for a visual approach to evolutionary clustering, which aims at producing a sequence of clustering solutions. This task we…

The integration of neural rendering and the SLAM system recently showed promising results in joint localization and photorealistic view reconstruction. However, existing methods, fully relying on implicit representations, are so…

This paper presents a feature encoding method of complex 3D objects for high-level semantic features. Recent approaches to object recognition methods become important for semantic simultaneous localization and mapping (SLAM). However, there…

In recent years, there have been significant advancements in 3D reconstruction and dense RGB-D SLAM systems. One notable development is the application of Neural Radiance Fields (NeRF) in these systems, which utilizes implicit neural…

Zero-shot learning (ZSL) aims to discriminate images from unseen classes by exploiting relations to seen classes via their semantic descriptions. Some recent papers have shown the importance of localized features together with fine-tuning…

Global navigation satellite systems (GNSS) are vulnerable to spoofing attacks, with adversarial signals manipulating the location or time information of receivers, potentially causing severe disruptions. The task of discerning the spoofing…

We present SOLID-Net, a neural network for spatially-varying outdoor lighting estimation from a single outdoor image for any 2D pixel location. Previous work has used a unified sky environment map to represent outdoor lighting. Instead, we…

In this work we introduce Natural Segmentation and Matching (NSM), an algorithm for reliable localization, using laser, in both urban and natural environments. Current state-of-the-art global approaches do not generalize well to…

We present a method for scalable and fully 3D magnetic field simultaneous localisation and mapping (SLAM) using local anomalies in the magnetic field as a source of position information. These anomalies are due to the presence of…

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…

Neural field-based SLAM methods typically employ a single, monolithic field as their scene representation. This prevents efficient incorporation of loop closure constraints and limits scalability. To address these shortcomings, we propose a…

We present MonoGS++, a novel fast and accurate Simultaneous Localization and Mapping (SLAM) method that leverages 3D Gaussian representations and operates solely on RGB inputs. While previous 3D Gaussian Splatting (GS)-based methods largely…

High precision localization is a crucial requirement for the autonomous driving system. Traditional positioning methods have some limitations in providing stable and accurate vehicle poses, especially in an urban environment. Herein, we…

Exploring the significance of geo-tagged information of a satellite image and associated shadow information in the image to enable man-made infrastructure dimensional characterization, in this paper a novel approach has been developed to…

Understanding and reasoning about complex 3D environments requires structured scene representations that capture not only objects but also their semantic and spatial relationships. While recent works on 3D scene graph generation have…

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…