Related papers: 3D Model-free Visual Localization System from Esse…
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…
Visual relocalization is crucial for autonomous visual localization and navigation of mobile robotics. Due to the improvement of CNN-based object detection algorithm, the robustness of visual relocalization is greatly enhanced especially in…
Re-ranking is the second stage of a visual place recognition task, in which the system chooses the best-matching images from a pre-selected subset of candidates. Model-free approaches compute the image pair similarity based on a spatial…
Robust trajectory planning under camera viewpoint changes is important for scalable end-to-end autonomous driving. However, existing models often depend heavily on the camera viewpoints seen during training. We investigate an…
Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…
Visual localization, i.e., the problem of camera pose estimation, is a central component of applications such as autonomous robots and augmented reality systems. A dominant approach in the literature, shown to scale to large scenes and to…
The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…
Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…
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…
Visual (re)localization addresses the problem of estimating the 6-DoF (Degree of Freedom) camera pose of a query image captured in a known scene, which is a key building block of many computer vision and robotics applications. Recent…
Visual localization is an essential component of intelligent transportation systems, enabling broad applications that require understanding one's self location when other sensors are not available. It is mostly tackled by image retrieval…
Despite the remarkable advances in image matching and pose estimation, image-based localization of a camera in a temporally-varying outdoor environment is still a challenging problem due to huge appearance disparity between query and…
Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representations. These developments present new opportunities for reusing…
In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…
3D visual grounding (3DVG) aims to localize objects in a 3D scene based on natural language queries. In this work, we explore zero-shot 3DVG from multi-view images alone, without requiring any geometric supervision or object priors. We…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
In complex environments, low-cost and robust localization is a challenging problem. For example, in a GPSdenied environment, LiDAR can provide accurate position information, but the cost is high. In general, visual SLAM based localization…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…
Precise localization is a core ability of an autonomous vehicle. It is a prerequisite for motion planning and execution. The well-established localization approaches such as Kalman and particle filters require a probabilistic observation…