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Gathering visual information effectively to monitor known environments is a key challenge in robotics. To be as efficient as human surveyors, robotic systems must continuously collect observational data required to complete their survey…
Visual Place Recognition (vPR) plays a crucial role in Unmanned Aerial Vehicle (UAV) navigation, enabling robust localization across diverse environments. Despite significant advancements, aerial vPR faces unique challenges due to the…
Vehicle localization using roadside LiDARs can provide centimeter-level accuracy for cloud-controlled vehicles while simultaneously serving multiple vehicles, enhanc-ing safety and efficiency. While most existing studies rely on repetitive…
Visual Place Recognition (VPR) is an image-based localization method that estimates the camera location of a query image by retrieving the most similar reference image from a map of geo-tagged reference images. In this work, we look into…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…
To address the challenge of autonomous UGV localization in GNSS-denied off-road environments,this study proposes a matching-based localization method that leverages BEV perception image and satellite map within a road similarity space to…
Visual localization has traditionally been formulated as a pair-wise pose regression problem. Existing approaches mainly estimate relative poses between two images and employ a late-fusion strategy to obtain absolute pose estimates.…
Underwater navigation is a challenging area in the field of mobile robotics due to inherent constraints in self-localisation and communication in underwater environments. Some of these challenges can be mitigated by using collaborative…
Globally-consistent localization in urban environments is crucial for autonomous systems such as self-driving vehicles and drones, as well as assistive technologies for visually impaired people. Traditional Visual-Inertial Odometry (VIO)…
Visual place recognition (VPR) enables autonomous robots to identify previously visited locations, which contributes to tasks like simultaneous localization and mapping (SLAM). VPR faces challenges such as accurate image neighbor retrieval…
The generation of synthetic novel views has the potential to positively impact robot navigation in several ways. In image-based navigation, a novel overhead view generated from a scene taken by a ground robot could be used to guide an…
With the development of smart cities, the demand for continuous pedestrian navigation in large-scale urban environments has significantly increased. While global navigation satellite systems (GNSS) provide low-cost and reliable positioning…
Robotic underwater systems, e.g., Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs), are promising tools for collecting biogeochemical data at the ice-water interface for scientific advancements. However, state…
This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
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…
GPS-based vehicle localization and tracking suffers from unstable positional information commonly experienced in tunnel segments and in dense urban areas. Also, both Visual Odometry (VO) and Visual Inertial Odometry (VIO) are susceptible to…
Despite the remarkable advances in image matching and pose estimation, image-based localization of a camera in a temporally-varying outdoor environment is still a challenging problem due to huge appearance disparity between query and…
Visual localization, i.e., camera pose estimation in a known scene, is a core component of technologies such as autonomous driving and augmented reality. State-of-the-art localization approaches often rely on image retrieval techniques for…
Unmanned Aerial Vehicles (UAVs) rely on satellite systems for stable positioning. However, due to limited satellite coverage or communication disruptions, UAVs may lose signals from satellite-based positioning systems. In such situations,…
With an ever-widening domain of aerial robotic applications, including many mission critical tasks such as disaster response operations, search and rescue missions and infrastructure inspections taking place in GPS-denied environments, the…