相关论文: 2D Visual Place Recognition for Domestic Service R…

Visual localization is a key step in many robotics pipelines, allowing the robot to (approximately) determine its position and orientation in the world. An efficient and scalable approach to visual localization is to use image retrieval…

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.…

Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…

Vision-aided localization for low-cost mobile robots in diverse environments has attracted widespread attention recently. Although many current systems are applicable in daytime environments, nocturnal visual localization is still an open…

The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…

A key limitation of current multi-robot systems is a lack of relative localization, particularly in environments without GPS or motion capture systems. This article presents a centralized method for relatively localizing a 2D swarm using…

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…

Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…

Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…

For autonomous ground vehicles (AGVs) deployed in suburban neighborhoods and other human-centric environments the problem of localization remains a fundamental challenge. There are well established methods for localization with GPS, lidar,…

Compared to LiDAR-based localization methods, which provide high accuracy but rely on expensive sensors, visual localization approaches only require a camera and thus are more cost-effective while their accuracy and reliability typically is…

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…

This paper demonstrates a system comprised of infrared beacons and a camera equipped with an optical band-pass filter. Our system can reliably detect and identify individual beacons at 100m distance regardless of lighting conditions. We…

Accurate pose estimation is a fundamental ability that all mobile robots must posses in order to traverse robustly in a given environment. Much like a human, this ability is dependent on the robot's understanding of a given scene. For…

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…

Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS. In this work, we are concerned with estimating the pose…

Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…

In this paper, we learn visual features that we use to first build a map and then localize a robot driving autonomously across a full day of lighting change, including in the dark. We train a neural network to predict sparse keypoints with…

Accurate and robust state estimation at nighttime is essential for autonomous robotic navigation to achieve nocturnal or round-the-clock tasks. An intuitive question arises: Can low-cost standard cameras be exploited for nocturnal state…

Topological localization is a fundamental problem in mobile robotics, since robots must be able to determine their position in order to accomplish tasks. Visual localization and place recognition are challenging due to perceptual ambiguity,…