相关论文: Identifying robust landmarks in feature-based maps

We present a novel method for visual mapping and localization for autonomous vehicles, by extracting, modeling, and optimizing semantic road elements. Specifically, our method integrates cascaded deep models to detect standardized road…

This paper presents a novel data-driven navigation system to navigate an Unmanned Vehicle (UV) in GPS-denied, feature-deficient environments such as tunnels, or mines. The method utilizes landmarks that vehicle can deploy and measure range…

Photogrammetric mesh models obtained from aerial oblique images have been widely used for urban reconstruction. However, the photogrammetric meshes also suffer from severe texture problems, especially on the road areas due to occlusion.…

We propose an autonomous exploration algorithm designed for decentralized multi-robot teams, which takes into account map and localization uncertainties of range-sensing mobile robots. Virtual landmarks are used to quantify the combined…

We present the concept of speed maps: speed limits for mobile robots in human environments. Static speed maps allow for faster navigation on corridors while limiting the speed around corners and in rooms. Dynamic speed maps put limits on…

This paper describes a multi-modal data association method for global localization using object-based maps and camera images. In global localization, or relocalization, using object-based maps, existing methods typically resort to matching…

The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…

Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households or warehouses. In these environments, long-term dynamics…

Analysis of overhead imagery using computer vision is a problem that has received considerable attention in academic literature. Most techniques that operate in this space are both highly specialised and require expensive manual annotation…

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…

For autonomous vehicles (AVs), visual perception techniques based on sensors like cameras play crucial roles in information acquisition and processing. In various computer perception tasks for AVs, it may be helpful to match landmark…

Robotic mapping is attractive in many scientific applications that involve environmental surveys. This paper presents a system for localization and mapping of sparsely distributed surface features such as precariously balanced rocks (PBRs),…

This paper presents a simultaneous localization and map-assisted environment recognition (SLAMER) method. Mobile robots usually have an environment map and environment information can be assigned to the map. Important information for mobile…

Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the…

This paper presents a localization technique using aerial imagery maps and LIDAR based ground reflectivity for autonomous vehicles in urban environments. Traditional localization techniques using LIDAR reflectivity rely on high definition…

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…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

Estimating vehicles' locations is one of the key components in intelligent traffic management systems (ITMSs) for increasing traffic scene awareness. Traditionally, stationary sensors have been employed in this regard. The development of…

Localization of salient facial landmark points, such as eye corners or the tip of the nose, is still considered a challenging computer vision problem despite recent efforts. This is especially evident in unconstrained environments, i.e., in…

Precisely estimating a robot's pose in a prior, global map is a fundamental capability for mobile robotics, e.g. autonomous driving or exploration in disaster zones. This task, however, remains challenging in unstructured, dynamic…