相关论文: Appearance-based indoor localization: A comparison…

Visual localization is an attractive problem that estimates the camera localization from database images based on the query image. It is a crucial task for various applications, such as autonomous vehicles, assistive navigation and…

Visual odometry is an essential key for a localization module in SLAM systems. However, previous methods require tuning the system to adapt environment changes. In this paper, we propose a learning-based approach for frame-to-frame…

Multi-person tracking plays a critical role in the analysis of surveillance video. However, most existing work focus on shorter-term (e.g. minute-long or hour-long) video sequences. Therefore, we propose a multi-person tracking algorithm…

Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…

Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…

Objects in videos are typically characterized by continuous smooth motion. We exploit continuous smooth motion in three ways. 1) Improved accuracy by using object motion as an additional source of supervision, which we obtain by…

In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based on expensive…

Navigation solutions suitable for cases when both autonomous robot's pose (\textit{i.e}., attitude and position) and its environment are unknown are in great demand. Simultaneous Localization and Mapping (SLAM) fulfills this need by…

Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…

Visual recognition and vision based retrieval of objects from large databases are tasks with a wide spectrum of potential applications. In this paper we propose a novel recognition method from video sequences suitable for retrieval from…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

This paper presents a new approach for integrating semantic information for vision-based vehicle navigation. Although vision-based vehicle navigation systems using pre-mapped visual landmarks are capable of achieving submeter level accuracy…

3D panoramic multi-person localization and tracking are prominent in many applications, however, conventional methods using LiDAR equipment could be economically expensive and also computationally inefficient due to the processing of point…

Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, existing approaches often require dense lighting distributions.…

In dynamic environments, performance of visual SLAM techniques can be impaired by visual features taken from moving objects. One solution is to identify those objects so that their visual features can be removed for localization and…

Learning to recognize pedestrian attributes at far distance is a challenging problem in visual surveillance since face and body close-shots are hardly available; instead, only far-view image frames of pedestrian are given. In this study, we…

As an essential component of visual simultaneous localization and mapping (SLAM), place recognition is crucial for robot navigation and autonomous driving. Existing methods often formulate visual place recognition as feature matching, which…

Blind individuals face persistent challenges in last-mile navigation, including locating entrances, identifying obstacles, and navigating complex or cluttered spaces. Although wearable cameras are increasingly used in assistive systems,…

Building on progress in feature representations for image retrieval, image-based localization has seen a surge of research interest. Image-based localization has the advantage of being inexpensive and efficient, often avoiding the use of 3D…

In this study, we propose a novel visual localization approach to accurately estimate six degrees of freedom (6-DoF) poses of the robot within the 3D LiDAR map based on visual data from an RGB camera. The 3D map is obtained utilizing an…