相关论文: OpenMPR: Recognize Places Using Multimodal Data fo…

Visual Place Recognition (VPR) is the ability to correctly recall a previously visited place under changing viewpoints and appearances. A large number of handcrafted and deep-learning-based VPR techniques exist, where the former suffer from…

In this paper, we propose a new image-based visual place recognition (VPR) framework by exploiting the structural cues in bird's-eye view (BEV) from a single monocular camera. The motivation arises from two key observations about place…

Place recognition, an algorithm to recognize the re-visited places, plays the role of back-end optimization trigger in a full SLAM system. Many works equipped with deep learning tools, such as MLP, CNN, and transformer, have achieved great…

Nearly all spatial reasoning problems involve uncertainty of one sort or another. Uncertainty arises due to the inaccuracies of sensors used in measuring distances and angles. We refer to this as directional uncertainty. Uncertainty also…

Place recognition is an important capability for autonomously navigating vehicles operating in complex environments and under changing conditions. It is a key component for tasks such as loop closing in SLAM or global localization. In this…

Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…

LiDAR-to-OpenStreetMap (OSM) localization has gained increasing attention, as OSM provides lightweight global priors such as building footprints. These priors enhance global consistency for robot navigation, but OSM is often incomplete or…

Object placement in robotic tasks is inherently challenging due to the diversity of object geometries and placement configurations. To address this, we propose AnyPlace, a two-stage method trained entirely on synthetic data, capable of…

Robust license plate recognition in unconstrained environments remains a significant challenge, particularly in underrepresented regions with limited data availability and unique visual characteristics, such as Bolivia. Recognition accuracy…

LiDAR-based place recognition (LPR) is one of the most crucial components of autonomous vehicles to identify previously visited places in GPS-denied environments. Most existing LPR methods use mundane representations of the input point…

In recent decades, several assistive technologies have been developed to improve the ability of blind and visually impaired (BVI) individuals to navigate independently and safely. At the same time, simultaneous localization and mapping…

Humans can orient themselves in their 3D environments using simple 2D maps. Differently, algorithms for visual localization mostly rely on complex 3D point clouds that are expensive to build, store, and maintain over time. We bridge this…

As an essential component of visual simultaneous localization and mapping (SLAM), place recognition is crucial for robot navigation and autonomous driving. Existing methods often formulate visual place recognition as feature matching, which…

Predicting the behavior of road users accurately is crucial to enable the safe operation of autonomous vehicles in urban or densely populated areas. Therefore, there has been a growing interest in time series motion prediction research,…

Inertial sensors are widely utilized in smartphones, drones, robots, and IoT devices, playing a crucial role in enabling ubiquitous and reliable localization. Inertial sensor-based positioning is essential in various applications, including…

Visual place recognition (VPR) enables autonomous systems to localize themselves within an environment using image information. While VPR techniques built upon a Convolutional Neural Network (CNN) backbone dominate state-of-the-art VPR…

Place recognition is a critical component in robot navigation that enables it to re-establish previously visited locations, and simultaneously use this information to correct the drift incurred in its dead-reckoned estimate. In this work,…

Visual Place Recognition (VPR) is generally concerned with localizing outdoor images. However, localizing indoor scenes that contain part of an outdoor scene can be of large value for a wide range of applications. In this paper, we…

Visual Place Recognition is a task that aims to predict the coordinates of an image (called query) based solely on visual clues. Most commonly, a retrieval approach is adopted, where the query is matched to the most similar images from a…

This paper presents an approach for creating a visual place recognition (VPR) database for localization in indoor environments from RGBD scanning sequences. The proposed approach is formulated as a minimization problem in terms of…