Related papers: LiDAR-based Registration against Georeferenced Mod…
Developments in three-dimensional real worlds promote the integration of geoinformation and building information models (BIM) known as GeoBIM in urban construction. Light detection and ranging (LiDAR) integrated with global navigation…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
Unlabeled LiDAR logs, in autonomous driving applications, are inherently a gold mine of dense 3D geometry hiding in plain sight - yet they are almost useless without human labels, highlighting a dominant cost barrier for…
Localization of autonomous unmanned aerial vehicles (UAVs) relies heavily on Global Navigation Satellite Systems (GNSS), which are susceptible to interference. Especially in security applications, robust localization algorithms independent…
Cross-View Geo-Localization (CVGL) between UAV imagery and satellite images plays a crucial role in target localization and UAV self-positioning. However, most existing methods rely on the idealized assumption of scale consistency between…
The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localization in GPS-denied environments still remain unsolved.…
Navigation of UAVs in challenging environments like tunnels or mines, where it is not possible to use GNSS methods to self-localize, illumination may be uneven or nonexistent, and wall features are likely to be scarce, is a complex task,…
Currently, digital maps are indispensable for automated driving. However, due to the low precision and reliability of GNSS particularly in urban areas, fusing trajectories of independent recording sessions and different regions is a…
Background modeling is widely used for intelligent surveillance systems to detect moving targets by subtracting the static background components. Most roadside LiDAR object detection methods filter out foreground points by comparing new…
Detecting moving vehicles and people is crucial for safe operation of UGVs but is challenging in cluttered, real world environments. We propose a registration technique that enables objects to be robustly matched and tracked, and hence…
Purpose: This paper presents a new dataset of Aerial Imagery from Robotics simulator (abbr. AIR). AIR dataset aims to provide a starting point for localization system development and to become a typical benchmark for accuracy comparison of…
Accurate localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, therefore, eliminate long-term drift. However, fusing GNSS…
UAVs play an important role in applications such as autonomous exploration, disaster response, and infrastructure inspection. However, UAV VLN in complex 3D environments remains challenging. A key difficulty is the structural representation…
Localizing ground devices (GDs) is an important requirement for a wide variety of applications, such as infrastructure monitoring, precision agriculture, search and rescue operations, to name a few. To this end, unmanned aerial vehicles…
Robots navigating indoor environments often have access to architectural plans, which can serve as prior knowledge to enhance their localization and mapping capabilities. While some SLAM algorithms leverage these plans for global…
Absolute Visual Localization (AVL) enables an Unmanned Aerial Vehicle (UAV) to determine its position in GNSS-denied environments by establishing geometric relationships between UAV images and geo-tagged reference maps. While many previous…
Critical maritime infrastructure increasingly demands situational awareness both above and below the surface, yet existing ''seabed-to-sky'' mapping pipelines either rely on GNSS (vulnerable to shadowing/spoofing) or expensive bathymetric…
In recent years, consumer Unmanned Aerial Vehicles have become very popular, everyone can buy and fly a drone without previous experience, which raises concern in regards to regulations and public safety. In this paper, we present a novel…
Recent advancements in LiDAR technology have significantly lowered costs and improved both its precision and resolution, thereby solidifying its role as a critical component in autonomous vehicle localization. Using sophisticated 3D…
One of the hardest challenges to face in the development of a non GPS-based localization system for autonomous vehicles is the changes of the environment. LiDAR-based systems typically try to match the last measurements obtained with a…