Related papers: LunarLoc: Segment-Based Global Localization on the…
Accurate perception of lunar surfaces is critical for modern lunar exploration missions. However, developing robust learning-based perception systems is hindered by the lack of datasets that provide both geometric and photometric…
We present LoD-Loc v3, a novel method for generalized aerial visual localization in dense urban environments. While prior work LoD-Loc v2 achieves localization through semantic building silhouette alignment with low-detail city models, it…
Recent years have witnessed fast growth in outdoor location-based services. While GPS is considered a ubiquitous localization system, it is not supported by low-end phones, requires direct line of sight to the satellites, and can drain the…
In this letter, we introduce GroundLoc, a LiDAR-only localization pipeline designed to localize a mobile robot in large-scale outdoor environments using prior maps. GroundLoc employs a Bird's-Eye View (BEV) image projection focusing on the…
This article introduces a novel method for object-level relocalization of robotic systems. It determines the pose of a camera sensor by robustly associating the object detections in the current frame with 3D objects in a lightweight…
This study presents an autonomous orbit determination system based on crosslink radiometric measurements applied to a future lunar CubeSat mission to clearly highlight its advantages with respect to existing ground-based navigation…
An important challenge for autonomous agents such as robots is to maintain a spatially and temporally consistent model of the world. It must be maintained through occlusions, previously-unseen views, and long time horizons (e.g., loop…
In this work we show that modern data-driven machine learning techniques can be successfully applied on lunar surface remote sensing data to learn, in an unsupervised way, sufficiently good representations of the data distribution to enable…
Acquiring count annotations generally requires less human effort than point-level and bounding box annotations. Thus, we propose the novel problem setup of localizing objects in dense scenes under this weaker supervision. We propose LOOC, a…
OpenStreetMap (OSM), a rich and versatile source of volunteered geographic information (VGI), facilitates human self-localization and scene understanding by integrating nearby visual observations with vectorized map data. However, the…
Recent advancements in energy-efficient hardware technology is driving the exponential growth we are experiencing in the Internet of Things (IoT) space, with more pervasive computations being performed near to data generation sources. A…
We introduce a novel approach for the precise localization of 67 anatomical structures from single depth images captured from the exterior of the human body. Our method uses a multi-class occupancy network, trained using segmented CT scans…
In this paper, we propose a novel laser-inertial odometry and mapping method to achieve real-time, low-drift and robust pose estimation in large-scale highway environments. The proposed method is mainly composed of four sequential modules,…
We propose UnLoc, an efficient data-driven solution for sequential camera localization within floorplans. Floorplan data is readily available, long-term persistent, and robust to changes in visual appearance. We address key limitations of…
Mapping is crucial for spatial reasoning, planning and robot navigation. Existing approaches range from metric, which require precise geometry-based optimization, to purely topological, where image-as-node based graphs lack explicit…
We present an online landmark selection method for distributed long-term visual localization systems in bandwidth-constrained environments. Sharing a common map for online localization provides a fleet of au- tonomous vehicles with the…
Geophysical imaging of the lunar near-surface structure will be key for in situ resource utilization, identification of hazards for crews and infrastructure, and answering science questions on the formation and interior of the Moon. The…
Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…
Accurate visual re-localization is very critical to many artificial intelligence applications, such as augmented reality, virtual reality, robotics and autonomous driving. To accomplish this task, we propose an integrated visual…
Future Moon bases will likely be constructed using resources mined from the surface of the Moon. The difficulty of maintaining a human workforce on the Moon and communications lag with Earth means that mining will need to be conducted using…