Related papers: Improving Visual Place Recognition Based Robot Nav…
In Visual Place Recognition (VPR) the pose of a query image is estimated by comparing the image to a map of reference images with known reference poses. As is typical for image retrieval problems, a feature extractor maps the query and…
A recent approach to the Visual Place Recognition (VPR) problem has been to fuse the place recognition estimates of multiple complementary VPR techniques simultaneously. However, selecting the optimal set of techniques to use in a specific…
Recent studies show that the visual place recognition (VPR) method using pre-trained visual foundation models can achieve promising performance. In our previous work, we propose a novel method to realize seamless adaptation of foundation…
This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…
Visual place recognition is an important problem towards global localization in many robotics tasks. One of the biggest challenges is that it may suffer from illumination or appearance changes in surrounding environments. Event cameras are…
This paper presents Vision-Language Global Localization (VLG-Loc), a novel global localization method that uses human-readable labeled footprint maps containing only names and areas of distinctive visual landmarks in an environment. While…
Reliable localization is critical for robot navigation in complex indoor environments. In this paper, we propose an uncertainty-aware localization method that enhances the reliability of localization outputs without modifying the prediction…
The Visual Simultaneous Localization and Mapping (V-SLAM) system has seen significant development in recent years, demonstrating high precision in environments with limited dynamic objects. However, their performance significantly…
Indoor navigation remains a complex challenge due to the absence of reliable GPS signals and the architectural intricacies of large enclosed environments. This study presents an indoor localization and navigation approach that integrates…
Visual sensor networks are used for monitoring traffic in large cities and are promised to support automated driving in complex road segments. The pose of these sensors, i.e. position and orientation, directly determines the coverage of the…
Visual Place Recognition (VPR) is a crucial component of 6-DoF localization, visual SLAM and structure-from-motion pipelines, tasked to generate an initial list of place match hypotheses by matching global place descriptors. However,…
In visual place recognition (VPR), map segmentation (MS) is a preprocessing technique used to partition a given view-sequence map into place classes (i.e., map segments) so that each class has good place-specific training images for a…
In assistive robotics serving people with disabilities (PWD), accurate place recognition in built environments is crucial to ensure that robots navigate and interact safely within diverse indoor spaces. Language interfaces, particularly…
Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…
Visual Place Recognition (VPR) refers to the process of using computer vision to recognize the position of the current query image. Due to the significant changes in appearance caused by season, lighting, and time spans between query images…
Visual Inertial Odometry (VIO) is an essential component of modern Augmented Reality (AR) applications. However, VIO only tracks the relative pose of the device, leading to drift over time. Absolute pose estimation methods infer the…
Vision-Language Models (VLMs) demonstrate impressive capabilities across multimodal tasks, yet exhibit systematic spatial reasoning failures, achieving only 49% (CLIP) to 54% (BLIP-2) accuracy on basic directional relationships. For safe…
In this work, we propose the use of Ground Penetrating Radar (GPR) for rover localization on Mars. Precise pose estimation is an important task for mobile robots exploring planetary surfaces, as they operate in GPS-denied environments.…
Visual Place Recognition (VPR) in areas with similar scenes such as urban or indoor scenarios is a major challenge. Existing VPR methods using global descriptors have difficulty capturing local specific regions (LSR) in the scene and are…
Gathering visual information effectively to monitor known environments is a key challenge in robotics. To be as efficient as human surveyors, robotic systems must continuously collect observational data required to complete their survey…