Related papers: F$^3$Loc: Fusion and Filtering for Floorplan Local…
We propose UnLoc, an efficient data-driven solution for sequential camera localization within floorplans. Floorplan data is readily available, long-term persistent, and robust to changes in visual appearance. We address key limitations of…
Since a building's floorplan remains consistent over time and is inherently robust to changes in visual appearance, visual Floorplan Localization (FLoc) has received increasing attention from researchers. However, as a compact and…
We present a novel framework for floor plan-based, full six degree-of-freedom LiDAR localization. Our approach relies on robust ceiling and ground plane detection, which solves part of the pose and supports the segmentation of vertical…
Since a building's floorplans are easily accessible, consistent over time, and inherently robust to changes in visual appearance, self-localization within the floorplan has attracted researchers' interest. However, since floorplans are…
The paper proposes a multi-modal sensor fusion algorithm that fuses WiFi, IMU, and floorplan information to infer an accurate and dense location history in indoor environments. The algorithm uses 1) an inertial navigation algorithm to…
Many public buildings provide floorplans with a "you are here" indicator to help visitors orient themselves. Floorplan localization seeks to computationally replicate this capability by determining where visual observations were captured…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
Visual place recognition is essential for vision-based robot localization and SLAM. Despite the tremendous progress made in recent years, place recognition in changing environments remains challenging. A promising approach to cope with…
Visual localization is a fundamental task that regresses the 6 Degree Of Freedom (6DoF) poses with image features in order to serve the high precision localization requests in many robotics applications. Degenerate conditions like motion…
Collaborative object localization aims to collaboratively estimate locations of objects observed from multiple views or perspectives, which is a critical ability for multi-agent systems such as connected vehicles. To enable collaborative…
Floorplans provide a compact representation of the building's structure, revealing not only layout information but also detailed semantics such as the locations of windows and doors. However, contemporary floorplan localization techniques…
Combining multiple complementary techniques together has long been regarded as a way to improve performance. In visual localization, multi-sensor fusion, multi-process fusion of a single sensing modality, and even combinations of different…
Machine learning has been considered a promising approach for indoor localization. Nevertheless, the sample efficiency, scalability, and generalization ability remain open issues of implementing learning-based algorithms in practical…
Floor plans can provide valuable prior information that helps enhance the accuracy of indoor positioning systems. However, existing research typically faces challenges in efficiently leveraging floor plan information and applying it to…
A major focus of current research on place recognition is visual localization for autonomous driving. In this scenario, as cameras will be operating continuously, it is realistic to expect videos as an input to visual localization…
Many recent machine learning approaches to floorplanning represent placement decisions using discrete canvas coordinates, which creates scalability bottlenecks as the action space grows. In this work, we study the effect of learning a…
Reconstructing geometry and topology structures from raw unstructured data has always been an important research topic in indoor mapping research. In this paper, we aim to reconstruct the floorplan with a vectorized representation from…
The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…
Pedestrian Indoor localization based on modalities available in modern smartphones have been widely studied in literature and many of the specific challenges have been addressed. However, very few approaches consider the whole problem and…
While the pursuit of higher accuracy in deepfake detection remains a central goal, there is an increasing demand for precise localization of manipulated regions. Despite the remarkable progress made in classification-based detection,…