相关论文: Accurate Global Trajectory Alignment using Poles a…
Localization in aerial imagery-based maps offers many advantages, such as global consistency, geo-referenced maps, and the availability of publicly accessible data. However, the landmarks that can be observed from both aerial imagery and…
Centimeter level globally accurate and consistent maps for autonomous vehicles navigation has long been achieved by on board real-time kinematic(RTK)-GPS in open areas. However when dealing with urban environments, GPS will experience…
Aerial image analysis at a semantic level is important in many applications with strong potential impact in industry and consumer use, such as automated mapping, urban planning, real estate and environment monitoring, or disaster relief.…
Maps are essential for diverse applications, such as vehicle navigation and autonomous robotics. Both require spatial models for effective route planning and localization. This paper addresses the challenge of road graph construction for…
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…
For autonomous navigation, accurate localization with respect to a map is needed. In urban environments, infrastructure such as buildings or bridges cause major difficulties to Global Navigation Satellite Systems (GNSS) and, despite…
Vehicle trajectories are a promising GNSS (Global Navigation Satellite System) data source to compute multi-scale traffic flow maps ranging from the city/regional level to the road level. The main obstacle is that trajectory data are prone…
Accurate localization is a critical component of mobile autonomous systems, especially in Global Navigation Satellite Systems (GNSS)-denied environments where traditional methods fail. In such scenarios, environmental sensing is essential…
For connected vehicles to have a substantial effect on road safety, it is required that accurate positions and trajectories can be shared. To this end, all vehicles must be accurately geolocalized in a common frame. This can be achieved by…
Modern unmanned aerial vehicles (UAVs) are irreplaceable in search and rescue (SAR) missions to obtain a situational overview or provide closeups without endangering personnel. However, UAVs heavily rely on global navigation satellite…
Localization of low-cost Unmanned Aerial Vehicles (UAVs) often relies on Global Navigation Satellite Systems (GNSS). GNSS are susceptible to both natural disruptions to radio signal and intentional jamming and spoofing by an adversary. A…
In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…
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…
Mapping and localization are crucial problems in robotics and autonomous driving. Recent advances in 3D Gaussian Splatting (3DGS) have enabled precise 3D mapping and scene understanding by rendering photo-realistic images. However, existing…
A pose-graph-based optimization technique is widely used to estimate robot poses using various sensor measurements from devices such as laser scanners and cameras. The global navigation satellite system (GNSS) has recently been used to…
Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple…
Aerial imagery and its direct application to visual localization is an essential problem for many Robotics and Computer Vision tasks. While Global Navigation Satellite Systems (GNSS) are the standard default solution for solving the aerial…
GNSS is unreliable, inaccurate, and insufficient in many real-time autonomous field applications. In this work, we present a GNSS-free global localization solution that contains a method of registering imaging radar on the ground with…
Methodical aerial population surveys monitoring critically endangered species in Canadian North Atlantic waters are instrumental in influencing government policies both in economic and conservational efforts. The primary factor hindering…
In 3D point cloud-based visual self-localization, pole landmarks have a great potential as landmarks for accurate and reliable localization due to their long-term stability under seasonal and weather changes. In this study, we aim to…