相关论文: On-device Scalable Image-based Localization via Pr…
In autonomous robotic systems, precise localization is a prerequisite for safe navigation. However, in complex urban environments, GNSS positioning often suffers from signal occlusion and multipath effects, leading to unreliable absolute…
We describe a learning-based system that estimates the camera position and orientation from a single input image relative to a known environment. The system is flexible w.r.t. the amount of information available at test and at training…
In this paper, we present a new city-scale decentralized mesh network system suited for disaster recovery and emergencies. When wide-area connectivity is unavailable or significantly degraded, our system, MapMesh, enables static access…
Cross-view image geolocalization provides an estimate of an agent's global position by matching a local ground image to an overhead satellite image without the need for GPS. It is challenging to reliably match a ground image to the correct…
Recent proposals in multicast overlay construction have demonstrated the importance of exploiting underlying network topology. However, these topology-aware proposals often rely on incremental and periodic refinements to improve the system…
We perceive our surroundings with an active focus, paying more attention to regions of interest, such as the shelf labels in a grocery store. When it comes to scene reconstruction, this human perception trait calls for spatially varying…
Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…
Relying on in-domain annotations and precise sensor-rig priors, existing 3D occupancy prediction methods are limited in both scalability and out-of-domain generalization. While recent visual geometry foundation models exhibit strong…
In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…
Visual localization is crucial for Computer Vision and Augmented Reality (AR) applications, where determining the camera or device's position and orientation is essential to accurately interact with the physical environment. Traditional…
In this paper, a neural architecture search (NAS) framework is proposed for 3D medical image segmentation, to automatically optimize a neural architecture from a large design space. Our NAS framework searches the structure of each layer…
Localization in already mapped environments is a critical component in many robotics and automotive applications, where previously acquired information can be exploited along with sensor fusion to provide robust and accurate localization…
Designing convolutional neural networks (CNN) for mobile devices is challenging because mobile models need to be small and fast, yet still accurate. Although significant efforts have been dedicated to design and improve mobile CNNs on all…
We present a novel scalable framework for image change detection (ICD) from an on-board 3D imagery system. We argue that existing ICD systems are constrained by the time required to align a given query image with individual reference image…
This paper presents a new approach for the challenging problem of geo-locating an image using image matching in a structured database of city-wide reference images with known GPS coordinates. We cast the geo-localization as a clustering…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
This paper presents novel strategies for spawning and fusing submaps within an elastic dense 3D reconstruction system. The proposed system uses spatial understanding of the scanned environment to control memory usage growth by fusing…
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…
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…
Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…