Related papers: TACO: Trajectory Aligning Cross-view Optimisation

Drift-free localization is essential for autonomous vehicles. In this paper, we address the problem by proposing a filter-based framework, which integrates the visual-inertial odometry and the measurements of the features in the pre-built…

Enabling bistatic radar sensing within the context of integrated sensing and communication (ISAC) for future sixth generation mobile networks demands strict synchronization accuracy, which is particularly challenging to be achieved with…

This paper proposes two novel nonlinear attitude filters evolved directly on the Special Orthogonal Group SO(3) able to ensure prescribed measures of transient and steady-state performance. The tracking performance of the normalized…

Estimating the absolute orientation of a local system relative to a global navigation satellite system (GNSS) reference often suffers from local minima and high dependency on satellite availability. Existing methods for this alignment task…

In this paper, we propose an efficient continuous-time LiDAR-Inertial-Camera Odometry, utilizing non-uniform B-splines to tightly couple measurements from the LiDAR, IMU, and camera. In contrast to uniform B-spline-based continuous-time…

We introduce a simple algorithm, True Asymptotic Natural Gradient Optimization (TANGO), that converges to a true natural gradient descent in the limit of small learning rates, without explicit Fisher matrix estimation. For quadratic models…

The dominant CNN-based methods for cross-view image geo-localization rely on polar transform and fail to model global correlation. We propose a pure transformer-based approach (TransGeo) to address these limitations from a different…

To address the scale mismatch caused by large altitude variations in UAV visual place recognition, we propose a monocular vision-only altitude-adaptive geo-localization framework. The method first estimates relative altitude from a single…

Maneuverability and drivability of the teleoperated ground vehicle could be seriously degraded by large communication delays if the delays are not properly compensated. This paper proposes a predicted trajectory guidance control (PTGC)…

Dimensionality reduction algorithms map high-dimensional data into visualizable 2D or 3D spaces, but traditionally rely on a discrete point-cloud paradigm. This discrete abstraction is susceptible to visual occlusion and artificial…

Vehicle trajectory data provides critical information for traffic flow modeling and analysis. Unmanned aerial vehicles (UAV) is an emerging technology for traffic data collection because of its flexibility and diversity on spatial and…

There are many geometric calibration methods for "standard" cameras. These methods, however, cannot be used for the calibration of telescopes with large focal lengths and complex off-axis optics. Moreover, specialized calibration methods…

Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…

Visual-Inertial Odometry (VIO) usually suffers from drifting over long-time runs, the accuracy is easily affected by dynamic objects. We propose DynaVIG, a navigation and object tracking system based on the integration of Monocular Vision,…

3D Gaussian Splatting (3DGS) has recently gained popularity as a faster alternative to Neural Radiance Fields (NeRFs) in 3D reconstruction and view synthesis methods. Leveraging the spatial information encoded in 3DGS, this work proposes…

Autonomous UAV flight in confined, wall-dense environments requires low-latency and reliable motion planning under strict safety constraints. Traditional optimization-based planners suffer from mapping latency and easily fall into local…

Mobile robots rely on odometry to navigate through areas where localization fails. Visual odometry (VO) is a common solution for obtaining robust and consistent relative motion estimates of the vehicle frame. Contrarily, Global Positioning…

The continual push to directly image exoplanets at lower masses and closer separations orbiting around bright stars remains limited by both quasi-static and residual adaptive optics (AO) aberration. In previous papers we have proposed a…

Robust cross-view geo-localization (CVGL) remains challenging despite the surge in recent progress. Existing methods still rely on field-of-view (FoV)-specific training paradigms, where models are optimized under a fixed FoV but collapse…

Lunar-based gravitational-wave interferometry is a fascinating endeavor, and was proposed as a promising approach to bridge the observational gap between space-borne and ground-based detectors. In this work, we adopt the Fisher-matrix…