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This work addresses visual cross-view metric localization for outdoor robotics. Given a ground-level color image and a satellite patch that contains the local surroundings, the task is to identify the location of the ground camera within…
Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…
Vision-based road detection is an essential functionality for supporting advanced driver assistance systems (ADAS) such as road following and vehicle and pedestrian detection. The major challenges of road detection are dealing with shadows…
We propose a novel method utilizing an objectness score for maintaining the locations and classes of objects detected from Mask R-CNN during mobile robot navigation. The objectness score is defined to measure how well the detector…
Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…
Precise estimation of global orientation and location is critical to ensure a compelling outdoor Augmented Reality (AR) experience. We address the problem of geo-pose estimation by cross-view matching of query ground images to a…
Street-view imagery provides us with novel experiences to explore different places remotely. Carefully calibrated street-view images (e.g. Google Street View) can be used for different downstream tasks, e.g. navigation, map features…
With the rapid development of urban underground rail vehicles,subway positioning, which plays a fundamental role in the traffic navigation and collision avoidance systems, has become a research hot-spot these years. Most current subway…
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…
Accurate vehicle localization is a crucial step towards building effective Vehicle-to-Vehicle networks and automotive applications. Yet standard grade GPS data, such as that provided by mobile phones, is often noisy and exhibits significant…
Nighttime camera-based depth estimation is a highly challenging task, especially for autonomous driving applications, where accurate depth perception is essential for ensuring safe navigation. Models trained on daytime data often fail in…
In this paper, a novel method for vision-aided navigation based on trifocal tensor is presented. The main goal of the proposed method is to provide position estimation in GPS-denied environments for vehicles equipped with a standard…
On the off-the-shelf navigational assistance devices, the localization precision is limited to the signal error of global navigation satellite system (GNSS). During travelling outdoors, the inaccurately localization perplexes visually…
Autonomous navigation at high speeds in off-road environments necessitates robots to comprehensively understand their surroundings using onboard sensing only. The extreme conditions posed by the off-road setting can cause degraded camera…
Accurate lane localization and lane change detection are crucial in advanced driver assistance systems and autonomous driving systems for safer and more efficient trajectory planning. Conventional localization devices such as Global…
Images acquired by computer vision systems under low light conditions have multiple characteristics like high noise, lousy illumination, reflectance, and bad contrast, which make object detection tasks difficult. Much work has been done to…
Accurate and robust navigation in unstructured environments requires fusing data from multiple sensors. Such fusion ensures that the robot is better aware of its surroundings, including areas of the environment that are not immediately…
Conventional approaches for addressing road safety rely on manual interventions or immobile CCTV infrastructure. Such methods are expensive in enforcing compliance to traffic rules and do not scale to large road networks. This paper…
The precise knowledge of the positions of space debris objects and in particular of defunct satellites is fundamental for satellite operations. Several studies showed that it is possible to improve the accuracy of the orbit determination…
Unmanned vehicles usually rely on Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) sensors to achieve high-precision localization results for navigation purpose. However, this combination with their associated costs…