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A robust visual localization and mapping system is essential for warehouse robot navigation, as cameras offer a more cost-effective alternative to LiDAR sensors. However, existing forward-facing camera systems often encounter challenges in…
Stereoscopic, head-tracked display systems can show users realistic, world-locked virtual objects and environments. However, discrepancies between the rendering pipeline and physical viewing conditions can lead to perceived instability in…
Visual place recognition techniques based on deep learning, which have imposed themselves as the state-of-the-art in recent years, do not generalize well to environments visually different from the training set. Thus, to achieve top…
The advent of low cost, accessible, and high performance augmented reality (AR) has shed light on a situated form of analytics where in-situ visualizations embedded in the real world can facilitate sensemaking based on the user's physical…
The safety and accessibility of our homes is critical to quality of life and evolves as we age, become ill, host guests, or experience life events such as having children. Researchers and health professionals have created assessment…
Many LiDAR place recognition systems have been developed and tested specifically for urban driving scenarios. Their performance in natural environments such as forests and woodlands have been studied less closely. In this paper, we analyzed…
Simultaneous localization and mapping (SLAM) techniques can be used to navigate the visually impaired, but the development of robust SLAM solutions for crowded spaces is limited by the lack of realistic datasets. To address this, we…
Multi-camera dynamic Augmented Reality (AR) applications require a camera pose estimation to leverage individual information from each camera in one common system. This can be achieved by combining contextual information, such as markers or…
Eye-tracking technology is an integral component of new display devices such as virtual and augmented reality headsets. Applications of gaze information range from new interaction techniques exploiting eye patterns to gaze-contingent…
One huge advantage of Augmented Reality (AR) is its numerous possibilities of displaying information in the physical world, especially when applying Situated Analytics (SitA). AR devices and their respective interaction techniques allow for…
Virtual Reality (VR) applications have revolutionized user experiences by immersing individuals in interactive 3D environments. These environments find applications in numerous fields, including healthcare, education, or architecture. A…
To help improve the safety and accessibility of indoor spaces, researchers and health professionals have created assessment instruments that enable homeowners and trained experts to audit and improve homes. With advances in computer vision,…
The majority of existing LiDAR odometry solutions are based on simple geometric features such as points, lines or planes which cannot fully reflect the characteristics of surrounding environments. In this study, we propose a novel LiDAR…
Robot control loops require causal pose estimates that depend only on past and present measurements. At each timestep, controllers compute commands using the current pose without waiting for future refinements. While traditional visual SLAM…
We propose a Visual Teach and Repeat (VTR) algorithm using semantic landmarks extracted from environmental objects for ground robots with fixed mount monocular cameras. The proposed algorithm is robust to changes in the starting pose of the…
Various autonomous applications rely on recognizing specific known landmarks in their environment. For example, Simultaneous Localization And Mapping (SLAM) is an important technique that lays the foundation for many common tasks, such as…
Advancements in tracking algorithms have empowered nascent applications across various domains, from steering autonomous vehicles to guiding robots to enhancing augmented reality experiences for users. However, these algorithms are…
In this paper, we present SROM, a novel real-time Simultaneous Localization and Mapping (SLAM) system for autonomous vehicles. The keynote of the paper showcases SROM's ability to maintain localization at low sampling rates or at high…
Augmented reality assembly guidance is essential for intelligent manufacturing and medical applications, requiring continuous measurement of the 6DoF poses of manipulated objects. Although current tracking methods have made significant…
Accurate localization using visual information is a critical yet challenging task, especially in urban environments where nearby buildings and construction sites significantly degrade GNSS (Global Navigation Satellite System) signal…