相关论文: Accurate Global Trajectory Alignment using Poles a…
The Global Positioning System (GPS) has become a part of our daily life with the primary goal of providing geopositioning service. For an unmanned aerial system (UAS), geolocalization ability is an extremely important necessity which is…
This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo-tracking methods offer…
This paper proposes a novel approach to map-based navigation system for unmanned aircraft. The proposed system attempts label-to-label matching, not image-to-image matching, between aerial images and a map database. The ground objects can…
Sensor calibration is crucial for autonomous driving, providing the basis for accurate localization and consistent data fusion. Enabling the use of high-accuracy GNSS sensors, this work focuses on the antenna lever arm calibration. We…
Conventional autonomous Unmanned Air Vehicle (abbr. UAV) autopilot systems use Global Navigation Satellite System (abbr. GNSS) signal for navigation. However, autopilot systems fail to navigate due to lost or jammed GNSS signal. To solve…
The growing use of probe vehicles generates a huge number of GNSS data. Limited by the satellite positioning technology, further improving the accuracy of map-matching is challenging work, especially for low-frequency trajectories. When…
In this work, we present a camera geopositioning system based on matching a query image against a database with panoramic images. For matching, our system uses memory vectors aggregated from global image descriptors based on convolutional…
With the objective of improving the registration of LiDAR point clouds produced by kinematic scanning systems, we propose a novel trajectory adjustment procedure that leverages on the automated extraction of selected reliable 3D…
Street-to-aerial image geo-localization, which matches a query street-view image to the GPS-tagged aerial images in a reference set, has attracted increasing attention recently. In this paper, we revisit this problem and point out the…
Using geometric landmarks like lines and planes can increase navigation accuracy and decrease map storage requirements compared to commonly-used LiDAR point cloud maps. However, landmark-based registration for applications like loop closure…
High-definition map with accurate lane-level information is crucial for autonomous driving, but the creation of these maps is a resource-intensive process. To this end, we present a cost-effective solution to create lane-level roadmaps…
Current software stacks for real-world applications of autonomous driving leverage map information to ensure reliable localization, path planning, and motion prediction. An important field of research is the generation of point cloud maps,…
Precise estimation of global orientation and location is critical to ensure a compelling outdoor Augmented Reality (AR) experience. We address the problem of geo-pose estimation by cross-view matching of query ground images to a…
Beyond novel view synthesis, Neural Radiance Fields are useful for applications that interact with the real world. In this paper, we use them as an implicit map of a given scene and propose a camera relocalization algorithm tailored for…
Street-view imagery provides us with novel experiences to explore different places remotely. Carefully calibrated street-view images (e.g. Google Street View) can be used for different downstream tasks, e.g. navigation, map features…
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…
Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…
The ability to recognize previously mapped locations is an essential feature for autonomous systems. Unstructured planetary-like environments pose a major challenge to these systems due to the similarity of the terrain. As a result, the…
Worldwide geolocalization aims to locate the precise location at the coordinate level of photos taken anywhere on the Earth. It is very challenging due to 1) the difficulty of capturing subtle location-aware visual semantics, and 2) the…
Predicting the safety of urban roads for navigation via global navigation satellite systems (GNSS) signals is considered. To ensure safe driving of automated vehicles, the vehicle must plan its trajectory to avoid navigating on unsafe roads…