相关论文: Mapping and Localization from Planar Markers

We propose an approach to estimate the 6DOF pose of a satellite, relative to a canonical pose, from a single image. Such a problem is crucial in many space proximity operations, such as docking, debris removal, and inter-spacecraft…

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…

Simultaneous Localization and Mapping (SLAM) has been considered as a solved problem thanks to the progress made in the past few years. However, the great majority of LiDAR-based SLAM algorithms are designed for a specific type of payload…

In Monocular Keyframe Visual Simultaneous Localization and Mapping (MKVSLAM) frameworks, when incremental position tracking fails, global pose has to be recovered in a short-time window, also known as short-term relocalization. This…

Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…

Map-centric SLAM is emerging as an alternative of conventional graph-based SLAM for its accuracy and efficiency in long-term mapping problems. However, in map-centric SLAM, the process of loop closure differs from that of conventional SLAM…

For autonomous navigation, accurate localization with respect to a map is needed. In urban environments, infrastructure such as buildings or bridges cause major difficulties to Global Navigation Satellite Systems (GNSS) and, despite…

Two-view pose estimation is essential for map-free visual relocalization and object pose tracking tasks. However, traditional matching methods suffer from time-consuming robust estimators, while deep learning-based pose regressors only…

Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in advance. We emphasize…

We propose a strategy for improving camera location estimation in structure from motion. Our setting assumes highly corrupted pairwise directions (i.e., normalized relative location vectors), so there is a clear room for improving current…

Visual localization algorithms, i.e., methods that estimate the camera pose of a query image in a known scene, are core components of many applications, including self-driving cars and augmented / mixed reality systems. State-of-the-art…

We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then…

In this work, we present a camera geopositioning system based on matching a query image against a database with panoramic images. For matching, our system uses memory vectors aggregated from global image descriptors based on convolutional…

In this paper, we present a framework for performing collaborative localization for groups of micro aerial vehicles (MAV) that use vision based sensing. The vehicles are each assumed to be equipped with a forward-facing monocular camera,…

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…

The problem of localization on a geo-referenced satellite map given a query ground view image is useful yet remains challenging due to the drastic change in viewpoint. To this end, in this paper we work on the extension of our earlier work…

In this paper, we propose the first minimal solutions for estimating the semi-generalized homography given a perspective and a generalized camera. The proposed solvers use five 2D-2D image point correspondences induced by a scene plane. One…

In this paper, the problem of target localization in the presence of outlying sensors is tackled. This problem is important in practice because in many real-world applications the sensors might report irrelevant data unintentionally or…

This paper presents a visual SLAM system that uses both points and lines for robust camera localization, and simultaneously performs a piece-wise planar reconstruction (PPR) of the environment to provide a structural map in real-time. One…

The capability of multi-robot SLAM approaches to merge localization history and maps from different observers is often challenged by the difficulty in establishing data association. Loop closure detection between perceptual inputs of…