Related papers: Using Perspective-n-Point Algorithms for a Local P…
LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…
Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur,…
Detecting 3D objects accurately from multi-view 2D images is a challenging yet essential task in the field of autonomous driving. Current methods resort to integrating depth prediction to recover the spatial information for object query…
Relative vehicle positioning methods can contribute to safer and more efficient autonomous driving by enabling collision avoidance and platooning applications. For full automation, these applications require cm-level positioning accuracy…
Position-aided beam selection methods have been shown to be an effective approach to achieve high beamforming gain while limiting the overhead and latency of initial access in millimeter wave (mmWave) communications. Most research in the…
With the recent development of technology, wireless sensor networks (WSN) are becoming an important part of many applications. Knowing the exact location of each sensor in the network is very important issue. Therefore, the localization…
In this paper, we propose SpotNet: a fast, single stage, image-centric but LiDAR anchored approach for long range 3D object detection. We demonstrate that our approach to LiDAR/image sensor fusion, combined with the joint learning of 2D and…
In this manuscript, distance and position estimation problems are investigated for visible light positioning (VLP) systems with red-green-blue (RGB) light emitting diodes (LEDs). The accuracy limits on distance and position estimation are…
This paper proposes a joint communication and indoor positioning (JCP) system based on visible light communication (VLC) designed for high-precision indoor environments. The framework supports 2D and 3D positioning using received signal…
Indoor positioning aims at navigation inside areas with no GPS-data availability and could be employed in many applications such as augmented reality, autonomous driving specially inside closed areas and tunnels. In this paper, a deep…
This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…
The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…
We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…
In this paper, we introduce a new uplink visible light indoor positioning system that estimates the position of the users in the network-side of a visible light communications (VLC) system. This technique takes advantage of the diffuse…
This paper presents an optimal calibration scheme and a weighted least squares (LS) localization algorithm for received signal strength (RSS) based visible light positioning (VLP) systems, focusing on the often overlooked impact of light…
Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…
We consider outdoor optical access points (OAPs), which, enabled by recent advances in metasurface technology, have attracted growing interest. While OAPs promise high data rates and strong physical-layer security, practical deployments…
Event cameras, featuring high temporal resolution and high dynamic range, offer visual sensing capabilities comparable to conventional image sensors while capturing fast-moving objects and handling scenes with extreme lighting contrasts…
We present a new method for estimating the 6D pose of rigid objects with available 3D models from a single RGB input image. The method is applicable to a broad range of objects, including challenging ones with global or partial symmetries.…