Related papers: LaMAR: Benchmarking Localization and Mapping for A…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…
Autonomous vehicles have gained significant attention due to technological advancements and their potential to transform transportation. A critical challenge in this domain is precise localization, particularly in LiDAR-based map matching,…
Place recognition is the fundamental module that can assist Simultaneous Localization and Mapping (SLAM) in loop-closure detection and re-localization for long-term navigation. The place recognition community has made astonishing progress…
Visual loop closure detection is an important module in visual simultaneous localization and mapping (SLAM), which associates current camera observation with previously visited places. Loop closures correct drifts in trajectory estimation…
Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…
High-quality environment lighting is essential for creating immersive mobile augmented reality (AR) experiences. However, achieving visually coherent estimation for mobile AR is challenging due to several key limitations in AR device…
With the development of blockchain and communication techniques, the Metaverse is considered as a promising next-generation Internet paradigm, which enables the connection between reality and the virtual world. The key to rendering a…
This paper proposes a novel approach to map-based navigation system for unmanned aircraft. The proposed system attempts label-to-label matching, not image-to-image matching, between aerial images and a map database. The ground objects can…
In recent decades, visual simultaneous localization and mapping (vSLAM) has gained significant interest in both academia and industry. It estimates camera motion and reconstructs the environment concurrently using visual sensors on a moving…
Providing pedestrians and other vulnerable road users with a clear indication about a fully autonomous vehicle status and intentions is crucial to make them coexist. In the last few years, a variety of external interfaces have been…
Recent advancements in Augmented Reality (AR) have demonstrated applications in architecture, design, and fabrication. Compared to conventional 2D construction drawings, AR can be used to superimpose contextual instructions, display 3D…
Many applications including object reconstruction, robot guidance, and scene mapping require the registration of multiple views from a scene to generate a complete geometric and appearance model of it. In real situations, transformations…
Centimeter level globally accurate and consistent maps for autonomous vehicles navigation has long been achieved by on board real-time kinematic(RTK)-GPS in open areas. However when dealing with urban environments, GPS will experience…
Many modern wireless devices with accurate positioning needs also have access to vision sensors, such as a camera, radar, and Light Detection and Ranging (LiDAR). In scenarios where wireless-based positioning is either inaccurate or…
One key vertical application that will be enabled by 6G is the automation of the processes with the increased use of robots. As a result, sensing and localization of the surrounding environment becomes a crucial factor for these robots to…
Large-scale multi-session LiDAR mapping is essential for a wide range of applications, including surveying, autonomous driving, crowdsourced mapping, and multi-agent navigation. However, existing approaches often struggle with data…
The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localization in GPS-denied environments still remain unsolved.…
Long-term scene changes present challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that can provide robust localization against those challenges. Our method starts with activation of a mapping…
Accurate camera localization is crucial for robotics and Extended Reality (XR), enabling reliable navigation and alignment of virtual and real content. Existing visual methods often suffer from drift, scale ambiguity, and depend on…