相关论文: Light-weight place recognition and loop detection …

Existing Simultaneous Localization and Mapping (SLAM) approaches are limited in their scalability due to growing map size in long-term robot operation. Moreover, processing such maps for localization and planning tasks leads to the…

Location-aware applications play an increasingly critical role in everyday life. However, satellite-based localization (e.g., GPS) has limited accuracy and can be unusable in dense urban areas and indoors. We introduce an image-based global…

Navigation and exploration within unknown environments are typical examples in which simultaneous localization and mapping (SLAM) algorithms are applied. When mobile agents deploy only range sensors without bearing information, the agents…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

Visual localization tackles the challenge of estimating the camera pose from images by using correspondence analysis between query images and a map. This task is computation and data intensive which poses challenges on thorough evaluation…

Robust cross-seasonal localization is one of the major challenges in long-term visual navigation of autonomous vehicles. In this paper, we exploit recent advances in semantic segmentation of images, i.e., where each pixel is assigned a…

We present a real-time semantic mapping approach for mobile vision systems with a 2D to 3D object detection pipeline and rapid data association for generated landmarks. Besides the semantic map enrichment the associated detections are…

In vision-based robot localization and SLAM, Visual Place Recognition (VPR) is essential. This paper addresses the problem of VPR, which involves accurately recognizing the location corresponding to a given query image. A popular approach…

Currently, self-driving cars rely greatly on the Global Positioning System (GPS) infrastructure, albeit there is an increasing demand for alternative methods for GPS-denied environments. One of them is known as place recognition, which…

In this paper, we address the problem of landmark-based visual place recognition. In the state-of-the-art method, accurate object proposal algorithms are first leveraged for generating a set of local regions containing particular landmarks…

A robust nonlinear stochastic observer for simultaneous localization and mapping (SLAM) is proposed using the available uncertain measurements of angular velocity, translational velocity, and features. The proposed observer is posed on the…

Vision is one of the most important of the senses, and humans use it extensively during navigation. We evaluated different types of image and video frame descriptors that could be used to determine distinctive visual landmarks for…

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…

Precise and long-term stable localization is essential in parking lots for tasks like autonomous driving or autonomous valet parking, \textit{etc}. Existing methods rely on a fixed and memory-inefficient map, which lacks robust data…

In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system…

Intelligent transportation systems (ITS) are expected to effectively create a stand-alone network for secure communication among autonomous agents. In such a dynamic and fast-changing network with high-speed agents, verifying the…

We present a robust and real time approach to lane marker detection in urban streets. It is based on generating a top view of the road, filtering using selective oriented Gaussian filters, using RANSAC line fitting to give initial guesses…

Due to the robustness in sensing, radar has been highlighted, overcoming harsh weather conditions such as fog and heavy snow. In this paper, we present a novel radar-only place recognition that measures the similarity score by utilizing…

Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…

This paper presents a detailed examination of low-light visual Simultaneous Localization and Mapping (SLAM) pipelines, focusing on the integration of state-of-the-art (SOTA) low-light image enhancement algorithms with standard and…