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

We implemented a system able to locate people indoor, with the purpose of providing assistive services. Such approach is particularly important for the Art, for providing information on exhibitions, art galleries and museums, and to allow…

Lifelong localization in a given map is an essential capability for autonomous service robots. In this paper, we consider the task of long-term localization in a changing indoor environment given sparse CAD floor plans. The commonly used…

Ground texture based localization methods are potential prospects for low-cost, high-accuracy self-localization solutions for robots. These methods estimate the pose of a given query image, i.e. the current observation of the ground from a…

This paper presents a lightweight visual place recognition approach, capable of achieving high performance with low computational cost, and feasible for mobile robotics under significant viewpoint and appearance changes. Results on several…

Navigation of a mobile robot is conditioned on the knowledge of its pose. In observer-based localisation configurations its initial pose may not be knowable in advance, leading to the need of its estimation. Solutions to the problem of…

We present a method for determining the unknown location of a sensor placed in a known 2D environment in the presence of unknown dynamic obstacles, using only few distance measurements. We present guarantees on the quality of the…

Object tracking and localization is a complex task that typically requires processing power beyond the capabilities of low-power embedded cameras. This paper presents a new approach to real-time object tracking and localization using…

Humans can orient themselves in their 3D environments using simple 2D maps. Differently, algorithms for visual localization mostly rely on complex 3D point clouds that are expensive to build, store, and maintain over time. We bridge this…

Long-term visual localization is an essential problem in robotics and computer vision, but remains challenging due to the environmental appearance changes caused by lighting and seasons. While many existing works have attempted to solve it…

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…

For robots navigating using only a camera, illumination changes in indoor environments can cause re-localization failures during autonomous navigation. In this paper, we present a multi-session visual SLAM approach to create a map made of…

We consider the challenging problem of outdoor lighting estimation for the goal of photorealistic virtual object insertion into photographs. Existing works on outdoor lighting estimation typically simplify the scene lighting into an…

The quality of life of many people could be improved by autonomous humanoid robots in the home. To function in the human world, a humanoid household robot must be able to locate itself and perceive the environment like a human; scene…

Place recognition is an important capability for autonomously navigating vehicles operating in complex environments and under changing conditions. It is a key component for tasks such as loop closing in SLAM or global localization. In this…

Indoor navigation is a foundational technology to assist the tracking and localization of humans, autonomous vehicles, drones, and robots in indoor spaces. Due to the lack of penetration of GPS signals in buildings, subterranean locales,…

We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to implementation on platforms with several constraints on size,…

Path planning algorithms for unmanned aerial or ground vehicles, in many surveillance applications, rely on Global Positioning System (GPS) information for localization. However, disruption of GPS signals, by intention or otherwise, can…

This paper proposes a visual-servoing method dedicated to grasping of daily-life objects. In order to obtain an affordable solution, we use a low-accurate robotic arm. Our method corrects errors by using an RGB-D sensor. It is based on SURF…

Inferring the location of a mobile device in an indoor setting is an open problem of utmost significance. A leading approach that does not require the deployment of expensive infrastructure is fingerprinting, where a classifier is trained…

We envision that in the near future, humanoid robots would share home space and assist us in our daily and routine activities through object manipulations. One of the fundamental technologies that need to be developed for robots is to…