Related papers: Time-Relative RTK-GNSS: GNSS Loop Closure in Pose …

Accurate metrical localization is one of the central challenges in mobile robotics. Many existing methods aim at localizing after building a map with the robot. In this paper, we present a novel approach that instead uses geotagged…

State estimation is an essential part of autonomous systems. Integrating the Ultra-Wideband(UWB) technique has been shown to correct the long-term estimation drift and bypass the complexity of loop closure detection. However, few works on…

Estimating robot pose from a monocular RGB image is a challenge in robotics and computer vision. Existing methods typically build networks on top of 2D visual backbones and depend heavily on labeled data for training, which is often scarce…

Accurate and robust vehicle localization in highly urbanized areas is challenging. Sensors are often corrupted in those complicated and large-scale environments. This paper introduces GNSS-FGO, an online and global trajectory estimator that…

We present the first real-time method to capture the full global 3D skeletal pose of a human in a stable, temporally consistent manner using a single RGB camera. Our method combines a new convolutional neural network (CNN) based pose…

Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…

We leverage 3D Gaussian Splatting (3DGS) as a scene representation and propose a novel test-time camera pose refinement (CPR) framework, GS-CPR. This framework enhances the localization accuracy of state-of-the-art absolute pose regression…

This paper presents a terrestrial localization system based on 5G infrastructure as a viable alternative to GNSS, particularly in scenarios where GNSS signals are obstructed or unavailable. It discusses network planning aimed at enabling…

Android raw Global Navigation Satellite System (GNSS) measurements are expected to bring smartphones power to take on demanding localization tasks that are traditionally performed by specialized GNSS receivers. The hardware constraints,…

Global Navigation Satellite Systems (GNSS) provide Positioning, Navigation, and Timing (PNT) information to over 4 billion devices worldwide. Despite its pervasive use in safety critical and high precision applications, GNSS remains…

Proprioceptive localization refers to a new class of robot egocentric localization methods that do not rely on the perception and recognition of external landmarks. These methods are naturally immune to bad weather, poor lighting…

Although the performance of 3D human pose and shape estimation methods has improved significantly in recent years, existing approaches typically generate 3D poses defined in camera or human-centered coordinate system. This makes it…

We propose a novel image based localization system using graph neural networks (GNN). The pretrained ResNet50 convolutional neural network (CNN) architecture is used to extract the important features for each image. Following, the extracted…

In robotics, motion capture systems have been widely used to measure the accuracy of localization algorithms. Moreover, this infrastructure can also be used for other computer vision tasks, such as the evaluation of Visual (-Inertial) SLAM…

This work introduces the Spacecraft Pose Network (SPN) for on-board estimation of the pose, i.e., the relative position and attitude, of a known non-cooperative spacecraft using monocular vision. In contrast to other state-of-the-art pose…

Loop closing is a crucial component in SLAM that helps eliminate accumulated errors through two main steps: loop detection and loop pose correction. The first step determines whether loop closing should be performed, while the second…

We present a novel trajectory traversability estimation and planning algorithm for robot navigation in complex outdoor environments. We incorporate multimodal sensory inputs from an RGB camera, 3D LiDAR, and the robot's odometry sensor to…

Multi-person pose estimation and tracking serve as crucial steps for video understanding. Most state-of-the-art approaches rely on first estimating poses in each frame and only then implementing data association and refinement. Despite the…

By utilizing global navigation satellite system (GNSS) position and velocity measurements, the fusion between the GNSS and the inertial navigation system provides accurate and robust navigation information. When considering land…

Deep learning based camera pose estimation from monocular camera images has seen a recent uptake in Visual SLAM research. Even though such pose estimation approaches have excellent results in small confined areas like offices and apartment…