Related papers: 3D Model-free Visual Localization System from Esse…

Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…

In this paper, a mobile camera positioning method based on forward and inverse kinematics of robot is proposed, which can realize far point positioning of imaging position and attitude tracking in large scene enhancement. Orbit precision…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

Existing spatial localization techniques for autonomous vehicles mostly use a pre-built 3D-HD map, often constructed using a survey-grade 3D mapping vehicle, which is not only expensive but also laborious. This paper shows that by using an…

One of the major challenges of model-free visual tracking problem has been the difficulty originating from the unpredictable and drastic changes in the appearance of objects we target to track. Existing methods tackle this problem by…

Visual sensor networks are used for monitoring traffic in large cities and are promised to support automated driving in complex road segments. The pose of these sensors, i.e. position and orientation, directly determines the coverage of the…

Visual localization has attracted considerable attention due to its low-cost and stable sensor, which is desired in many applications, such as autonomous driving, inspection robots and unmanned aerial vehicles. However, current visual…

We propose a novel method for spatiotemporal multi-camera calibration using freely moving people in multiview videos. Since calibrating multiple cameras and finding matches across their views are inherently interdependent, performing both…

The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…

We propose a novel method for aerial visual localization over low Level-of-Detail (LoD) city models. Previous wireframe-alignment-based method LoD-Loc has shown promising localization results leveraging LoD models. However, LoD-Loc mainly…

We present a novel multi-altitude camera pose estimation system, addressing the challenges of robust and accurate localization across varied altitudes when only considering sparse image input. The system effectively handles diverse…

Visual robot self-localization is a fundamental problem in visual robot navigation and has been studied across various problem settings, including monocular and sequential localization. However, many existing studies focus primarily on…

3D pose estimation from a single 2D image is an important and challenging task in computer vision with applications in autonomous driving, robot manipulation and augmented reality. Since 3D pose is a continuous quantity, a natural…

6D pose estimation is a central problem in robot vision. Compared with pose estimation based on point correspondences or its robust versions, correspondence-free methods are often more flexible. However, existing correspondence-free methods…

This paper addresses the problem of vision-based pedestrian localization, which estimates a pedestrian's location using images and camera parameters. In practice, however, calibrated camera parameters often deviate from the ground truth,…

We propose a new method named LoD-Loc for visual localization in the air. Unlike existing localization algorithms, LoD-Loc does not rely on complex 3D representations and can estimate the pose of an Unmanned Aerial Vehicle (UAV) using a…

Building on progress in feature representations for image retrieval, image-based localization has seen a surge of research interest. Image-based localization has the advantage of being inexpensive and efficient, often avoiding the use of 3D…

For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…

While substantial progress has been made in the absolute performance of localization and Visual Place Recognition (VPR) techniques, it is becoming increasingly clear from translating these systems into applications that other capabilities…

Visual Place Recognition (VPR) is a core component in computer vision, typically formulated as an image retrieval task for localization, mapping, and navigation. In this work, we instead study VPR as an image pair retrieval front-end for…