相关论文: Vision-aided Localization and Navigation Based on …

We propose a novel method to reliably estimate the pose of a camera given a sequence of images acquired in extreme environments such as deep seas or extraterrestrial terrains. Data acquired under these challenging conditions are corrupted…

Successful navigation of a rigid-body traveling with six degrees of freedom (6 DoF) requires accurate estimation of attitude , position, and linear velocity. The true navigation dynamics are highly nonlinear and are modeled on the matrix…

We propose a viewpoint invariant model for 3D human pose estimation from a single depth image. To achieve this, our discriminative model embeds local regions into a learned viewpoint invariant feature space. Formulated as a multi-task…

Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…

Accurate localization is fundamental to a variety of applications, such as navigation, robotics, autonomous driving, and Augmented Reality (AR). Different from incremental localization, global localization has no drift caused by error…

This work focuses on the problem of visual target navigation, which is very important for autonomous robots as it is closely related to high-level tasks. To find a special object in unknown environments, classical and learning-based…

In real-world application scenarios, it is crucial for marine navigators and security analysts to predict vessel movement trajectories at sea based on the Automated Identification System (AIS) data in a given time span. This article…

Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…

We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the…

Perceiving humans in the context of Intelligent Transportation Systems (ITS) often relies on multiple cameras or expensive LiDAR sensors. In this work, we present a new cost-effective vision-based method that perceives humans' locations in…

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…

In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the method proposed by Espiau et al. [1] to the case of a…

Camera, and associated with its objects within the field of view, localization could benefit many computer vision fields, such as autonomous driving, robot navigation, and augmented reality (AR). In this survey, we first introduce specific…

Monocular 3D vehicle localization is an important task in Intelligent Transportation System (ITS) and Cooperative Vehicle Infrastructure System (CVIS), which is usually achieved by monocular 3D vehicle detection. However, depth information…

Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…

Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…

In this paper, we investigate visual-based camera re-localization with neural networks for robotics and autonomous vehicles applications. Our solution is a CNN-based algorithm which predicts camera pose (3D translation and 3D rotation)…

Accurate localization using visual information is a critical yet challenging task, especially in urban environments where nearby buildings and construction sites significantly degrade GNSS (Global Navigation Satellite System) signal…

In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…

A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…