相关论文: Visual Place Recognition with Probabilistic Vertex…
Visual simultaneous localization and mapping (SLAM) systems face challenges in detecting loop closure under the circumstance of large viewpoint changes. In this paper, we present an object-based loop closure detection method based on the…
In visual place recognition (VPR), filtering and sequence-based matching approaches can improve performance by integrating temporal information across image sequences, especially in challenging conditions. While these methods are commonly…
Visual localization is a fundamental task for a wide range of applications in the field of robotics. Yet, it is still a complex problem with no universal solution, and the existing approaches are difficult to scale: most state-of-the-art…
The problem visual place recognition is commonly used strategy for localization. Most successful appearance based methods typically rely on a large database of views endowed with local or global image descriptors and strive to retrieve the…
Visual localization plays an important role in many applications. However, due to the large appearance variations such as season and illumination changes, as well as weather and day-night variations, it's still a big challenge for robust…
Place recognition is a challenging but crucial task in robotics. Current description-based methods may be limited by representation capabilities, while pairwise similarity-based methods require exhaustive searches, which is time-consuming.…
Many modern wireless devices with accurate positioning needs also have access to vision sensors, such as a camera, radar, and Light Detection and Ranging (LiDAR). In scenarios where wireless-based positioning is either inaccurate or…
Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including self-driving cars, Structure-from-Motion, SLAM, and Mixed Reality.…
Place recognition and loop closure detection are challenging for long-term visual navigation tasks. SeqSLAM is considered to be one of the most successful approaches to achieving long-term localization under varying environmental conditions…
In pattern recognition or machine learning, it is a very fundamental task to find nearest neighbors of a given point. All the methods for the task work basically by comparing the given point to all the points in the data set. That is why…
We consider the problem of relative pose regression in visual relocalization. Recently, several promising approaches have emerged in this area. We claim that even though they demonstrate on the same datasets using the same split to train…
Accurate localization is a foundational capacity, required for autonomous vehicles to accomplish other tasks such as navigation or path planning. It is a common practice for vehicles to use GPS to acquire location information. However, the…
Visual localization determines an agent's precise position and orientation within an environment using visual data. It has become a critical task in the field of robotics, particularly in applications such as autonomous navigation. This is…
Despite significant algorithmic advances in vision-based positioning, a comprehensive probabilistic framework to study its performance has remained unexplored. The main objective of this paper is to develop such a framework using ideas from…
Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational…
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…
Visual loop closure detection is an important module in visual simultaneous localization and mapping (SLAM), which associates current camera observation with previously visited places. Loop closures correct drifts in trajectory estimation…
Visual localization is a useful alternative to standard localization techniques. It works by utilizing cameras. In a typical scenario, features are extracted from captured images and compared with geo-referenced databases. Location…
Vision based localization is a popular approach to carry out manoeuvres particularly in GPS-restricted indoor environments, because vision can complement other activities performed by the robot. The objective is to estimate the current…
Visual place recognition (VPR) is the problem of recognising a previously visited location using visual information. Many attempts to improve the performance of VPR methods have been made in the literature. One approach that has received…