Related papers: Learning Where to Look: Self-supervised Viewpoint …
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…
Reliable localization is critical for robot navigation, yet most existing systems implicitly assume that all viewing directions at a location are equally informative. In practice, localization becomes unreliable when the robot observes…
Visual localization determines an agent's precise position and orientation within an environment using visual data. It has become a critical task in the field of robotics, particularly in applications such as autonomous navigation. This is…
Visual event perception tasks such as action localization have primarily focused on supervised learning settings under a static observer, i.e., the camera is static and cannot be controlled by an algorithm. They are often restricted by the…
We describe a method for performing active localization of objects in instances of visual situations. A visual situation is an abstract concept---e.g., "a boxing match", "a birthday party", "walking the dog", "waiting for a bus"---whose…
Accurate localization is a foundational capacity, required for autonomous vehicles to accomplish other tasks such as navigation or path planning. It is a common practice for vehicles to use GPS to acquire location information. However, the…
Active localization is the problem of generating robot actions that allow it to maximally disambiguate its pose within a reference map. Traditional approaches to this use an information-theoretic criterion for action selection and…
Given the complexities inherent in visual scenes, such as object occlusion, a comprehensive understanding often requires observation from multiple viewpoints. Existing multi-viewpoint object-centric learning methods typically employ random…
Robust visual localization under a wide range of viewing conditions is a fundamental problem in computer vision. Handling the difficult cases of this problem is not only very challenging but also of high practical relevance, e.g., in the…
Visual localization is the problem of estimating a camera within a scene and a key component in computer vision applications such as self-driving cars and Mixed Reality. State-of-the-art approaches for accurate visual localization use…
In this work, we tackle the problem of active camera localization, which controls the camera movements actively to achieve an accurate camera pose. The past solutions are mostly based on Markov Localization, which reduces the position-wise…
Place recognition is a critical component in robot navigation that enables it to re-establish previously visited locations, and simultaneously use this information to correct the drift incurred in its dead-reckoned estimate. In this work,…
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…
Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…
Visual object localization is the key step in a series of object detection tasks. In the literature, high localization accuracy is achieved with the mainstream strongly supervised frameworks. However, such methods require object-level…
Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…
Robot localization is a fundamental component of autonomous navigation in unknown environments. Among various sensing modalities, visual input from cameras plays a central role, enabling robots to estimate their position by tracking point…
Visual servoing technology has been well developed and applied in many automated manufacturing tasks, especially in tools' pose alignment. To access a full global view of tools, most applications adopt eye-to-hand configuration or…
Visual place recognition is a fundamental capability for the localization of mobile robots. It places image retrieval in the practical context of physical agents operating in a physical world. It is an active field of research and many…
Visual-based recognition, e.g., image classification, object detection, etc., is a long-standing challenge in computer vision and robotics communities. Concerning the roboticists, since the knowledge of the environment is a prerequisite for…