Related papers: MobileARLoc: On-device Robust Absolute Localisatio…
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…
Augmented reality (AR) has gained increasingly attention from both research and industry communities. By overlaying digital information and content onto the physical world, AR enables users to experience the world in a more informative and…
There has been a continued trend towards minimizing instrumentation for full-body motion capture, going from specialized rooms and equipment, to arrays of worn sensors and recently sparse inertial pose capture methods. However, as these…
Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control remain challenging due to hysteresis, compliance, and limited…
Recent advances in visual anomaly detection research have seen AUROC and AUPRO scores on public benchmark datasets such as MVTec and VisA converge towards perfect recall, giving the impression that these benchmarks are near-solved. However,…
After years of growth, drone-based delivery is transforming logistics. At its core, real-time 6-DoF drone pose tracking enables precise flight control and accurate drone landing. With the widespread availability of urban 3D maps, the Visual…
Identifying locations of occupants is beneficial to energy management in buildings. A key observation in indoor environment is that distinct functional areas are typically controlled by separate HVAC and lighting systems and room level…
Accurate, infrastructure-less sensor systems for motion tracking are essential for mobile robotics and augmented reality (AR) applications. The most popular state-of-the-art visual-inertial odometry (VIO) systems, however, are too…
We propose an automatic method for pose and motion estimation against a ground surface for a ground-moving robot-mounted monocular camera. The framework adopts a semi-dense approach that benefits from both a feature-based method and an…
Planar markers are useful in robotics and computer vision for mapping and localisation. Given a detected marker in an image, a frequent task is to estimate the 6DOF pose of the marker relative to the camera, which is an instance of planar…
Visual localization, which estimates a camera's pose within a known scene, is a fundamental capability for autonomous systems. While absolute pose regression (APR) methods have shown promise for efficient inference, they often struggle with…
This paper presents an effective and reliable pose tracking solution, termed ERPoT, for mobile robots operating in large-scale outdoor and challenging indoor environments, underpinned by an innovative prior polygon map. Especially, to…
Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…
In this letter, we introduce GroundLoc, a LiDAR-only localization pipeline designed to localize a mobile robot in large-scale outdoor environments using prior maps. GroundLoc employs a Bird's-Eye View (BEV) image projection focusing on the…
In past few years we have observed an increase in the usage of RGBD sensors in mobile devices. These sensors provide a good estimate of the depth map for the camera frame, which can be used in numerous augmented reality applications. This…
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…
Cross-view geo-localization (CVGL) plays a vital role in drone-based multimedia applications, enabling precise localization by matching drone-captured aerial images against geo-tagged satellite databases in GNSS-denied environments.…
The technology for Visual Odometry (VO) that estimates the position and orientation of the moving object through analyzing the image sequences captured by on-board cameras, has been well investigated with the rising interest in autonomous…
This paper presents a visual-inertial odometry (VIO) method using long-tracked features. Long-tracked features can constrain more visual frames, reducing localization drift. However, they may also lead to accumulated matching errors and…
Autonomous agents such as cars, robots and drones need to precisely localize themselves in diverse environments, including in GPS-denied indoor environments. One approach for precise localization is visual place recognition (VPR), which…