Related papers: FlexLoc: Conditional Neural Networks for Zero-Shot…
Global localization is a critical problem in autonomous navigation, enabling precise positioning without reliance on GPS. Modern global localization techniques often depend on dense LiDAR maps, which, while precise, require extensive…
This paper presents a general one-shot object localization algorithm called OneLoc. Current one-shot object localization or detection methods either rely on a slow exhaustive feature matching process or lack the ability to generalize to…
LiDAR relocalization aims to estimate the global 6-DoF pose of a sensor in the environment. However, existing regression-based approaches are prone to dynamic or ambiguous scenarios, as they either solely rely on single-frame inference or…
With the growth of location-based services, indoor localization is attracting great interests as it facilitates further ubiquitous environments. Specifically, device free localization using wireless signals is getting increased attention as…
Fingerprinting-based localization often suffers from poor cross-environment generalization, especially when only a few labeled samples are available in the target environment. Existing methods mitigate distribution shifts through domain…
The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…
Fingerprint localization has gained significant attention due to its cost-effective deployment, low complexity, and high efficacy. However, traditional methods, while effective for static data, often struggle in dynamic environments where…
Map-based LiDAR localization, while widely used in autonomous systems, faces significant challenges in degraded environments due to lacking distinct geometric features. This paper introduces SuperLoc, a robust LiDAR localization package…
Localization for autonomous robots in prior maps is crucial for their functionality. This paper offers a solution to this problem for indoor environments called InstaLoc, which operates on an individual lidar scan to localize it within a…
In this paper, we propose a unified localization framework (called UNILocPro) that integrates model-based localization and channel charting (CC) for mixed line-of-sight (LoS)/non-line-of-sight (NLoS) scenarios. Specifically, based on…
Camera relocalization, a cornerstone capability of modern computer vision, accurately determines a camera's position and orientation (6-DoF) from images and is essential for applications in augmented reality (AR), mixed reality (MR),…
This paper presents a data-driven localization framework with high precision in time-varying complex multipath environments, such as dense urban areas and indoors, where GPS and model-based localization techniques come short. We consider…
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…
With recent progress in large-scale map maintenance and long-term map learning, the task of change detection on a large-scale map from a visual image captured by a mobile robot has become a problem of increasing criticality. Previous…
Robust and accurate localization is critical for autonomous driving. Traditional GNSS-based localization methods suffer from signal occlusion and multipath effects in urban environments. Meanwhile, methods relying on high-definition (HD)…
Visual understanding is inherently contextual -- what we focus on in an image depends on the task at hand. For instance, given an image of a person holding a bouquet of flowers, we may focus on either the person such as their clothing, or…
Anomaly detection methods typically require extensive normal samples from the target class for training, limiting their applicability in scenarios that require rapid adaptation, such as cold start. Zero-shot and few-shot anomaly detection…
We present a method for localizing a single camera with respect to a point cloud map in indoor and outdoor scenes. The problem is challenging because correspondences of local invariant features are inconsistent across the domains between…
Recent years have witnessed fast growth in outdoor location-based services. While GPS is considered a ubiquitous localization system, it is not supported by low-end phones, requires direct line of sight to the satellites, and can drain the…
For high-level geo-spatial applications and intelligent robotics, accurate global pose information is of crucial importance. Map-aided localization is a universal approach to overcome the limitations of global navigation satellite system…