Related papers: Visual place recognition for aerial imagery: A sur…
Ensuring accurate localization of robots in environments without GPS capability is a challenging task. Visual Place Recognition (VPR) techniques can potentially achieve this goal, but existing RGB-based methods are sensitive to changes in…
The visual camera is an attractive device in beyond visual line of sight (B-VLOS) drone operation, since they are low in size, weight, power, and cost, and can provide redundant modality to GPS failures. However, state-of-the-art visual…
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…
Cross-view geo-localisation identifies coarse geographical position of an automated vehicle by matching a ground-level image to a geo-tagged satellite image from a database. Despite the advancements in Cross-view geo-localisation,…
State-of-the-art visual localization approaches generally rely on a first image retrieval step whose role is crucial. Yet, retrieval often struggles when facing varying conditions, due to e.g. weather or time of day, with dramatic…
Visual Place Recognition (VPR) aims to estimate the location of the given query image within a database of geo-tagged images. To identify the exact location in an image, detecting landmarks is crucial. However, in some scenarios, such as…
Accurate localisation in planetary robotics enables the advanced autonomy required to support the increased scale and scope of future missions. The successes of the Ingenuity helicopter and multiple planetary orbiters lay the groundwork for…
Visual relocalization is a key technique to autonomous driving, robotics, and virtual/augmented reality. After decades of explorations, absolute pose regression (APR), scene coordinate regression (SCR), and hierarchical methods (HMs) have…
With the expanding application scope of unmanned aerial vehicles (UAVs), the demand for stable UAV control has significantly increased. However, in complex environments, GPS signals are prone to interference, resulting in ineffective UAV…
Visual Place Recognition (VPR) enables robust localization through image retrieval based on learned descriptors. However, drastic appearance variations of images at the same place caused by viewpoint changes can lead to inconsistent…
The problem of localization on a geo-referenced satellite map given a query ground view image is useful yet remains challenging due to the drastic change in viewpoint. To this end, in this paper we work on the extension of our earlier work…
Image-based localization in GNSS-denied environments is critical for UAV autonomy. Existing state-of-the-art approaches rely on matching UAV images to geo-referenced satellite images; however, they typically require large-scale, paired…
A cross-domain visual place recognition (VPR) task is proposed in this work, i.e., matching images of the same architectures depicted in different domains. VPR is commonly treated as an image retrieval task, where a query image from an…
Localization is a critical capability for robots, drones and autonomous vehicles operating in a wide range of environments. One of the critical considerations for designing, training or calibrating visual localization systems is the…
The agility and versatility offered by UAV platforms still encounter obstacles for full exploitation in industrial applications due to their indoor usage limitations. A significant challenge in this sense is finding a reliable and…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
Visual localization is the problem of estimating the position and orientation from which a given image (or a sequence of images) is taken in a known scene. It is an important part of a wide range of computer vision and robotics…
Visual Simultaneous Localization and Mapping (vSLAM) has achieved great progress in the computer vision and robotics communities, and has been successfully used in many fields such as autonomous robot navigation and AR/VR. However, vSLAM…
Visual Place Recognition (VPR) is generally concerned with localizing outdoor images. However, localizing indoor scenes that contain part of an outdoor scene can be of large value for a wide range of applications. In this paper, we…
Visual place recognition is the task of recognizing a place depicted in an image based on its pure visual appearance without metadata. In visual place recognition, the challenges lie upon not only the changes in lighting conditions, camera…