Related papers: SF-Loc: A Visual Mapping and Geo-Localization Syst…
Cross-view geo-localization aims at establishing location correspondences between different viewpoints. Existing approaches typically learn cross-view correlations through direct feature similarity matching, often overlooking semantic…
Image based localization is one of the important problems in computer vision due to its wide applicability in robotics, augmented reality, and autonomous systems. There is a rich set of methods described in the literature how to…
In this paper we propose a novel method for image matching based on dense local features and tailored for visual geolocalization. Dense local features matching is robust against changes in illumination and occlusions, but not against…
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…
Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…
In this paper, we propose to go beyond the well-established approach to vision-based localization that relies on visual descriptor matching between a query image and a 3D point cloud. While matching keypoints via visual descriptors makes…
Visual localization tackles the challenge of estimating the camera pose from images by using correspondence analysis between query images and a map. This task is computation and data intensive which poses challenges on thorough evaluation…
Cross-view geolocalization, a supplement or replacement for GPS, localizes an agent within a search area by matching images taken from a ground-view camera to overhead images taken from satellites or aircraft. Although the viewpoint…
Worldwide geo-localization involves determining the exact geographic location of images captured globally, typically guided by geographic cues such as climate, landmarks, and architectural styles. Despite advancements in geo-localization…
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…
This paper describes a multi-modal data association method for global localization using object-based maps and camera images. In global localization, or relocalization, using object-based maps, existing methods typically resort to matching…
This letter introduces a novel framework for dense Visual Simultaneous Localization and Mapping (VSLAM) based on Gaussian Splatting. Recently, SLAM based on Gaussian Splatting has shown promising results. However, in monocular scenarios,…
We propose a vision-based method that localizes a ground vehicle using publicly available satellite imagery as the only prior knowledge of the environment. Our approach takes as input a sequence of ground-level images acquired by the…
When adapting Simultaneous Mapping and Localization (SLAM) to real-world applications, such as autonomous vehicles, drones, and augmented reality devices, its memory footprint and computing cost are the two main factors limiting the…
Multi-agents rely on accurate poses to share and align observations, enabling a collaborative perception of the environment. However, traditional GNSS-based localization often fails in GNSS-denied environments, making consistent feature…
Automotive mmWave radar has been widely used in the automotive industry due to its small size, low cost, and complementary advantages to optical sensors (e.g., cameras, LiDAR, etc.) in adverse weathers, e.g., fog, raining, and snowing. On…
Visual localization is a fundamental task for a wide range of applications in the field of robotics. Yet, it is still a complex problem with no universal solution, and the existing approaches are difficult to scale: most state-of-the-art…
Visual (re)localization addresses the problem of estimating the 6-DoF (Degree of Freedom) camera pose of a query image captured in a known scene, which is a key building block of many computer vision and robotics applications. Recent…
Visual localization is a useful alternative to standard localization techniques. It works by utilizing cameras. In a typical scenario, features are extracted from captured images and compared with geo-referenced databases. Location…