相关论文: Visual Global Localization with a Hybrid WNN-CNN A…

Recent research on Simultaneous Localization and Mapping (SLAM) based on implicit representation has shown promising results in indoor environments. However, there are still some challenges: the limited scene representation capability of…

Localization of autonomous unmanned aerial vehicles (UAVs) relies heavily on Global Navigation Satellite Systems (GNSS), which are susceptible to interference. Especially in security applications, robust localization algorithms independent…

Robotic applications are continuously striving towards higher levels of autonomy. To achieve that goal, a highly robust and accurate state estimation is indispensable. Combining visual and inertial sensor modalities has proven to yield…

Simultaneous object recognition and pose estimation are two key functionalities for robots to safely interact with humans as well as environments. Although both object recognition and pose estimation use visual input, most state-of-the-art…

Relative location prediction in computed tomography (CT) scan images is a challenging problem. In this paper, a regression model based on one-dimensional convolutional neural networks is proposed to determine the relative location of a CT…

In this work, we present LocGAN, our localization approach based on a geo-referenced aerial imagery and LiDAR grid maps. Currently, most self-localization approaches relate the current sensor observations to a map generated from previously…

We propose a novel traffic sign detection system that simultaneously estimates the location and precise boundary of traffic signs using convolutional neural network (CNN). Estimating the precise boundary of traffic signs is important in…

This paper presents a lightweight visual place recognition approach, capable of achieving high performance with low computational cost, and feasible for mobile robotics under significant viewpoint and appearance changes. Results on several…

We propose a method for accurately localizing ground vehicles with the aid of satellite imagery. Our approach takes a ground image as input, and outputs the location from which it was taken on a georeferenced satellite image. We perform…

We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…

We present a vehicle self-localization method using point-based deep neural networks. Our approach processes measurements and point features, i.e. landmarks, from a high-definition digital map to infer the vehicle's pose. To learn the best…

Sequence-based place recognition methods for all-weather navigation are well-known for producing state-of-the-art results under challenging day-night or summer-winter transitions. These systems, however, rely on complex handcrafted…

Spatial intelligence is the ability of a machine to perceive, reason, and act in three dimensions within space and time. Recent advancements in large-scale auto-regressive models have demonstrated remarkable capabilities across various…

In this paper, we address the problem of cross-view image geo-localization. Specifically, we aim to estimate the GPS location of a query street view image by finding the matching images in a reference database of geo-tagged bird's eye view…

We propose a new learning-based method for estimating 2D human pose from a single image, using Dual-Source Deep Convolutional Neural Networks (DS-CNN). Recently, many methods have been developed to estimate human pose by using pose priors…

Planet-scale photo geolocalization is the complex task of estimating the location depicted in an image solely based on its visual content. Due to the success of convolutional neural networks (CNNs), current approaches achieve super-human…

The availability of a robust map-based localization system is essential for the operation of many autonomously navigating vehicles. Since uncertainty is an inevitable part of perception, it is beneficial for the robustness of the robot to…

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…

Recently Convolutional Neural Networks (CNNs) have been shown to achieve state-of-the-art performance on various classification tasks. In this paper, we present for the first time a place recognition technique based on CNN models, by…

For applications in navigation and robotics, estimating the 3D pose of objects is as important as detection. Many approaches to pose estimation rely on detecting or tracking parts or keypoints [11, 21]. In this paper we build on a recent…