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3D Gaussian splatting (3DGS) is an emerging technique for photorealistic 3D scene rendering. However, rendering city-scale 3DGS scenes on resource-constrained mobile devices in real-time remains a significant challenge due to two…
Accurate long-term localization using onboard sensors is crucial for robots operating in Global Navigation Satellite System (GNSS)-denied environments. While complementary sensors mitigate individual degradations, carrying all the available…
In this paper, we challenge the conventional notion in 3DGS-SLAM that rendering quality is the primary determinant of tracking accuracy. We argue that, compared to solely pursuing a perfect scene representation, it is more critical to…
Optimization algorithms are pivotal in advancing various scientific and industrial fields but often encounter obstacles such as trapping in local minima, saddle points, and plateaus (flat regions), which makes the convergence to reasonable…
False positives in pedestrian detection remain a challenge that has yet to be effectively resolved. To address this issue, this paper proposes a Full-stage Refined Proposal (FRP) algorithm aimed at eliminating these false positives within a…
Accurate information about the location and orientation of a camera in mobile devices is central to the utilization of location-based services (LBS). Most of such mobile devices rely on GPS data but this data is subject to inaccuracy due to…
Recently, Gaussian Splatting (GS) has shown great potential for urban scene reconstruction in the field of autonomous driving. However, current urban scene reconstruction methods often depend on multimodal sensors as inputs, \textit{i.e.}…
Water Distribution Networks (WDNs) are critical infrastructures that ensure safe drinking water. One of the major threats is the accidental or intentional injection of pollutants. Data collection remains challenging in underground WDNs and…
One of the major challenges for autonomous vehicles in urban environments is to understand and predict other road users' actions, in particular, pedestrians at the point of crossing. The common approach to solving this problem is to use the…
Inertial navigation systems for pedestrians are infrastructure-less and can achieve sub-meter accuracy in the short/medium period. However, when low-cost inertial measurement units (IMU) are employed for their implementation, they suffer…
In this paper, an efficient motion planning approach with grid-based generalized Voronoi diagrams (G$ \mathbf{^2} $VD) is newly proposed for mobile robots. Different from existing approaches, the novelty of this work is twofold: 1) a new…
Scan data of urban environments often include representations of dynamic objects, such as vehicles, pedestrians, and so forth. However, when it comes to constructing a 3D point cloud map with sequential accumulations of the scan data, the…
This paper introduces a cost effective localization system combining monocular visual odometry , augmented reality (AR) poses, and integrated INS-GPS data. We address monocular VO scale factor issues using AR poses and enhance accuracy with…
Lane detection stands as a crucial perception task in autonomous driving and advanced driver assistance systems. However, existing methods still degrade in complex real scenarios due to two major limitations. First, classification…
Standalone Global Navigation Satellite Systems (GNSS) are known to provide positioning accuracy of a few meters in open sky conditions. This accuracy can drop significantly when the line-of-sight (LOS) paths to some GNSS satellites are…
With the increasing presence of service robots and autonomous vehicles in human environments, navigation systems need to evolve beyond simple destination reach to incorporate social awareness. This paper introduces GSON, a novel group-based…
Cross-View Geo-Localisation within urban regions is challenging in part due to the lack of geo-spatial structuring within current datasets and techniques. We propose utilising graph representations to model sequences of local observations…
This paper aims to tackle the problem of modeling dynamic urban streets for autonomous driving scenes. Recent methods extend NeRF by incorporating tracked vehicle poses to animate vehicles, enabling photo-realistic view synthesis of dynamic…
This paper reveals about global navigation satellite system GNSS in the indian subcontinent known as the navigation in the indian subcontinent(NavIC) We have tried to model a new technique in GNSS known as the optical flow tracking global…
Navigation is one of the most widely used applications of the Location Based Services (LBS) which have become part of our digitally informed daily lives. Navigation services, however, have generally been designed for drivers rather than…