相关论文: Accurate Localization in Dense Urban Area Using Go…

Image retrieval-based cross-view localization methods often lead to very coarse camera pose estimation, due to the limited sampling density of the database satellite images. In this paper, we propose a method to increase the accuracy of a…

The concept of geo-localization refers to the process of determining where on earth some `entity' is located, typically using Global Positioning System (GPS) coordinates. The entity of interest may be an image, sequence of images, a video,…

Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…

In this paper we investigate the problem of localizing a mobile device based on readings from its embedded sensors utilizing machine learning methodologies. We consider a real-world environment, collect a large dataset of 3110 datapoints,…

Training networks to perform metric relocalization traditionally requires accurate image correspondences. In practice, these are obtained by restricting domain coverage, employing additional sensors, or capturing large multi-view datasets.…

This paper deals with the problem of localization in a cellular network in a dense urban scenario. Global Navigation Satellite System typically performs poorly in urban environments when there is no line-of-sight between the devices and the…

We seek to predict the 6 degree-of-freedom (6DoF) pose of a query photograph with respect to a large indoor 3D map. The contributions of this work are three-fold. First, we develop a new large-scale visual localization method targeted for…

In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain…

Accurate visual localization in dense urban environments poses a fundamental task in photogrammetry, geospatial information science, and robotics. While imagery is a low-cost and widely accessible sensing modality, its effectiveness on…

We study the problem of sensor placement in environments in which localization is a necessity, such as ad-hoc wireless sensor networks that allow the placement of a few anchors that know their location or sensor arrays that are tracking a…

While both outdoor and indoor localization methods are flourishing, how to properly marry them to offer pervasive localizability in urban areas remains open. Recently proposals on indoor-outdoor detection make the first step towards such an…

Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…

Visual sensor networks are used for monitoring traffic in large cities and are promised to support automated driving in complex road segments. The pose of these sensors, i.e. position and orientation, directly determines the coverage of the…

Estimating the precise location of a camera using visual localization enables interesting applications such as augmented reality or robot navigation. This is particularly useful in indoor environments where other localization technologies,…

A vehicular pose estimation technique is presented that tightly couples multi-antenna carrier-phase differential GNSS (CDGNSS) with a low-cost MEMS inertial sensor and vehicle dynamics constraints. This work is the first to explore the use…

Camera localization is a fundamental and key component of autonomous driving vehicles and mobile robots to localize themselves globally for further environment perception, path planning and motion control. Recently end-to-end approaches…

Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…

Navigation and trajectorial estimation of maritime vessels are contingent upon the context of positional accuracy. Even the smallest deviations in the estimation of a given vessel may result in detrimental consequences in terms of economic…