Related papers: Vision-based localization methods under GPS-denied…
In vision-based robot localization and SLAM, Visual Place Recognition (VPR) is essential. This paper addresses the problem of VPR, which involves accurately recognizing the location corresponding to a given query image. A popular approach…
Visual Odometry (VO) is essential to downstream mobile robotics and augmented/virtual reality tasks. Despite recent advances, existing VO methods still rely on heuristic design choices that require several weeks of hyperparameter tuning by…
In battlefield environments, adversaries frequently disrupt GPS signals, requiring alternative localization and navigation methods. Traditional vision-based approaches like Simultaneous Localization and Mapping (SLAM) and Visual Odometry…
Safe autonomous systems in complex environments require robust road anomaly segmentation to identify unknown obstacles. However, existing approaches often rely on pixel-level statistics to determine whether a region appears anomalous. This…
Localization without Global Navigation Satellite Systems (GNSS) is a critical functionality in autonomous operations of unmanned aerial vehicles (UAVs). Vision-based localization on a known map can be an effective solution, but it is…
As an emerging and challenging problem in the computer vision community, weakly supervised object localization and detection plays an important role for developing new generation computer vision systems and has received significant…
Cross-view geolocalization (CVGL) systems, while effective at retrieving a list of relevant candidates (high Recall@k), often fail to identify the single best match (low Top-1 accuracy). This work investigates the use of zero-shot…
Collision avoidance and platooning applications require vehicle localization at cm-level accuracy and at least 50 Hz rate for full autonomy. The RADAR/LIDAR and camera based methods currently used for vehicle localization do not satisfy…
Vision-aided localization for low-cost mobile robots in diverse environments has attracted widespread attention recently. Although many current systems are applicable in daytime environments, nocturnal visual localization is still an open…
Autonomous valet parking is a specific application for autonomous vehicles. In this task, vehicles need to navigate in narrow, crowded and GPS-denied parking lots. Accurate localization ability is of great importance. Traditional…
This paper presents a comparative study of three modes for mobile robot localization based on visual SLAM using fiducial markers (i.e., square-shaped artificial landmarks with a black-and-white grid pattern): SLAM, SLAM with a prior map,…
Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with a large range of applications. This paper presents a novel approach to VSLAM by lifting the observer design to a novel Lie group on which the…
Recent developments in vision language models (VLM) have shown great potential for diverse applications related to image understanding. In this study, we have explored state-of-the-art VLM models for vision-based transportation engineering…
The fusion of language and vision in large vision-language models (LVLMs) has revolutionized deep learning-based object detection by enhancing adaptability, contextual reasoning, and generalization beyond traditional architectures. This…
Large vision-language models (LVLMs) are markedly proficient in deriving visual representations guided by natural language. Recent explorations have utilized LVLMs to tackle zero-shot visual anomaly detection (VAD) challenges by pairing…
Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…
Exploration is an important step in autonomous navigation of robotic systems. In this paper we introduce a series of enhancements for exploration algorithms in order to use them with vision-based simultaneous localization and mapping…
The visual camera is an attractive device in beyond visual line of sight (B-VLOS) drone operation, since they are low in size, weight, power, and cost, and can provide redundant modality to GPS failures. However, state-of-the-art visual…
Localization is a critical technology in autonomous driving, encompassing both topological localization, which identifies the most similar map keyframe to the current observation, and metric localization, which provides precise spatial…
Indoor navigation remains a complex challenge due to the absence of reliable GPS signals and the architectural intricacies of large enclosed environments. This study presents an indoor localization and navigation approach that integrates…