Related papers: LiteVLoc: Map-Lite Visual Localization for Image G…

This work presents VTok, a unified video tokenization framework that can be used for both generation and understanding tasks. Unlike the leading vision-language systems that tokenize videos through a naive frame-sampling strategy, we…

Cross-view object geo-localization (CVOGL) aims to determine the location of a specific object in high-resolution satellite imagery given a query image with a point prompt. Existing approaches treat CVOGL as a one-shot detection task,…

We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…

Text-to-point-cloud (T2P) localization aims to infer precise spatial positions within 3D point cloud maps from natural language descriptions, reflecting how humans perceive and communicate spatial layouts through language. However, existing…

Localization in a battlefield environment is increasingly challenging as GPS connectivity is often denied or unreliable, and physical deployment of anchor nodes across wireless networks for localization can be difficult in hostile…

Visual navigation with an image as goal is a fundamental and challenging problem. Conventional methods either rely on end-to-end RL learning or modular-based policy with topological graph or BEV map as memory, which cannot fully model the…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

Visual relocalization, which estimates the 6-degree-of-freedom (6-DoF) camera pose from query images, is fundamental to remote sensing and UAV applications. Existing methods face inherent trade-offs: image-based retrieval and pose…

Scene coordinate regression achieves impressive results in outdoor LiDAR localization but requires days of training. Since training needs to be repeated for each new scene, long training times make these methods impractical for…

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…

In this work, we propose a modular approach for the Vision-Language Navigation (VLN) task by decomposing the problem into four sub-modules that use state-of-the-art Large Language Models (LLMs) and Vision-Language Models (VLMs) in a…

Accurate and reliable localization is a fundamental requirement for autonomous vehicles to use map information in higher-level tasks such as navigation or planning. In this paper, we present a novel approach to vehicle localization in dense…

Accurately determining the geographic location where a single image was taken, visual geolocation, remains a formidable challenge due to the planet's vastness and the deceptive similarity among distant locations. We introduce GeoLocSFT, a…

This paper presents a novel system designed for 3D mapping and visual relocalization using 3D Gaussian Splatting. Our proposed method uses LiDAR and camera data to create accurate and visually plausible representations of the environment.…

In this paper, we propose a new open-source benchmarking framework for Visual Geo-localization (VG) that allows to build, train, and test a wide range of commonly used architectures, with the flexibility to change individual components of a…

In this paper, we present a framework for performing collaborative localization for groups of micro aerial vehicles (MAV) that use vision based sensing. The vehicles are each assumed to be equipped with a forward-facing monocular camera,…

This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo-tracking methods offer…

In air-ground collaboration scenarios without GPS and prior maps, the relative positioning of drones and unmanned ground vehicles (UGVs) has always been a challenge. For a drone equipped with monocular camera and an UGV equipped with LiDAR…

In complex environments, low-cost and robust localization is a challenging problem. For example, in a GPSdenied environment, LiDAR can provide accurate position information, but the cost is high. In general, visual SLAM based localization…

Sparse-voxel rasterization is a fast, differentiable alternative for optimization-based scene reconstruction, but it tends to underfit low-frequency content, depends on brittle pruning heuristics, and can overgrow in ways that inflate VRAM.…