相关论文: Benchmarking 6DOF Outdoor Visual Localization in C…

Cooperative Unmanned Aerial Systems (UASs) in GPS-denied environments demand an accurate pose-localization system to ensure efficient operation. In this paper we present a novel visual relative localization system capable of monitoring a…

The growing popularity of autonomous systems creates a need for reliable and efficient metric pose retrieval algorithms. Currently used approaches tend to rely on nearest neighbor search of binary descriptors to perform the 2D-3D matching…

6D pose estimation in space poses unique challenges that are not commonly encountered in the terrestrial setting. One of the most striking differences is the lack of atmospheric scattering, allowing objects to be visible from a great…

One of the key factors behind the recent success in visual tracking is the availability of dedicated benchmarks. While being greatly benefiting to the tracking research, existing benchmarks do not pose the same difficulty as before with…

Can knowing where you are assist in perceiving objects in your surroundings, especially under adverse weather and lighting conditions? In this work we investigate whether a prior map can be leveraged to aid in the detection of dynamic…

In this work, we introduce the task of 3D object instance re-localization (RIO): given one or multiple objects in an RGB-D scan, we want to estimate their corresponding 6DoF poses in another 3D scan of the same environment taken at a later…

Visual localization remains challenging in dynamic environments where fluctuating lighting, adverse weather, and moving objects disrupt appearance cues. Despite advances in feature representation, current absolute pose regression methods…

Estimating the precise location of a camera using visual localization enables interesting applications such as augmented reality or robot navigation. This is particularly useful in indoor environments where other localization technologies,…

Visual place recognition is a fundamental capability for the localization of mobile robots. It places image retrieval in the practical context of physical agents operating in a physical world. It is an active field of research and many…

When a vehicle observes another one, the two vehicles' poses are correlated by this spatial relative observation, which can be used in cooperative localization for further increasing localization accuracy and precision. To use spatial…

The accurate estimation of six degrees-of-freedom (6DoF) object poses is essential for many applications in robotics and augmented reality. However, existing methods for 6DoF pose estimation often depend on CAD templates or dense support…

We present a deep neural network-based method to perform high-precision, robust and real-time 6 DOF visual servoing. The paper describes how to create a dataset simulating various perturbations (occlusions and lighting conditions) from a…

Gaze recognition can significantly reduce the amount of eye movement data for a better understanding of cognitive and visual processing. Gaze recognition is an essential precondition for eye-based interaction applications in virtual…

Visual localization on standard-definition (SD) maps has emerged as a promising low-cost and scalable solution for autonomous driving. However, existing regression-based approaches often overlook inherent geometric priors, resulting in…

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…

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…

The development of safe and reliable autonomous unmanned aerial vehicles relies on the ability of the system to recognise and adapt to changes in the local environment based on sensor inputs. State-of-the-art local tracking and trajectory…

This paper presents FGLoc6D, a novel approach for robust global localisation and online 6DoF pose estimation of ground robots in forest environments by leveraging deep semantically-guided re-localisation and cross-view factor graph…

Visual localization techniques often comprise a hierarchical localization pipeline, with a visual place recognition module used as a coarse localizer to initialize a pose refinement stage. While improving the pose refinement step has been…

Long-term visual localization has the potential to reduce cost and improve mapping quality in optical benthic monitoring with autonomous underwater vehicles (AUVs). Despite this potential, long-term visual localization in benthic…