相关论文: KFNet: Learning Temporal Camera Relocalization usi…

This paper proposes a novel approach to improve the performance of the extended Kalman filter (EKF) for the problem of mobile robot localization. A fuzzy logic system is employed to continuous-ly adjust the noise covariance matrices of the…

We introduce a weakly supervised method for representation learning based on aligning temporal sequences (e.g., videos) of the same process (e.g., human action). The main idea is to use the global temporal ordering of latent correspondences…

Localization plays a critical role in the field of distributed swarm robotics. Previous work has highlighted the potential of relative localization for position tracking in multi-robot systems. Ultra-wideband (UWB) technology provides a…

FastSLAM is a framework for simultaneous localization using a Rao-Blackwellized particle filter. In FastSLAM, particle filter is used for the mobile robot pose (position and orientation) estimation, and an Extended Kalman Filter (EKF) is…

We consider cooperative localization technique for mobile agents with communication and computation capabilities. We start by provide and overview of different decentralization strategies in the literature, with special focus on how these…

Estimating queue lengths at signalized intersections is a long-standing challenge in traffic management. Partial observability of vehicle flows complicates this task despite the availability of two privacy-preserving data sources: (i)…

This technical report introduces CyberLoc, an image-based visual localization pipeline for robust and accurate long-term pose estimation under challenging conditions. The proposed method comprises four modules connected in a sequence.…

Traditional simultaneous localization and mapping (SLAM) methods focus on improvement in the robot's localization under environment and sensor uncertainty. This paper, however, focuses on mitigating the need for exact localization of a…

In image-based camera localization systems, information about the environment is usually stored in some representation, which can be referred to as a map. Conventionally, most maps are built upon hand-crafted features. Recently, neural…

Estimating accurate forward and inverse dynamics models is a crucial component of model-based control for sophisticated robots such as robots driven by hydraulics, artificial muscles, or robots dealing with different contact situations.…

Robots rely on visual relocalization to estimate their pose from camera images when they lose track. One of the challenges in visual relocalization is repetitive structures in the operation environment of the robot. This calls for…

State-of-the-art ensemble Kalman filtering (EnKF) algorithms require incorporating localization techniques to cope with the rank deficiency and the inherited spurious correlations in their error covariance matrices. Localization techniques…

Autonomous vehicles have gained significant attention due to technological advancements and their potential to transform transportation. A critical challenge in this domain is precise localization, particularly in LiDAR-based map matching,…

In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's…

In this paper we address the problem of estimating the posterior distribution of the static parameters of a continuous time state space model with discrete time observations by an algorithm that combines the Kalman filter and a particle…

In this paper, we present an efficient spatial-temporal representation for video person re-identification (reID). Firstly, we propose a Bilateral Complementary Network (BiCnet) for spatial complementarity modeling. Specifically, BiCnet…

This paper presents a novel approach for optimizing the scheduling and control of Pan-Tilt-Zoom (PTZ) cameras in dynamic surveillance environments. The proposed method integrates Kalman filters for motion prediction with a dynamic network…

Temporal segmentation of untrimmed videos and photo-streams is currently an active area of research in computer vision and image processing. This paper proposes a new approach to improve the temporal segmentation of photo-streams. The…

Image-based camera relocalization is an important problem in computer vision and robotics. Recent works utilize convolutional neural networks (CNNs) to regress for pixels in a query image their corresponding 3D world coordinates in the…

In this paper we present CMRNet, a realtime approach based on a Convolutional Neural Network to localize an RGB image of a scene in a map built from LiDAR data. Our network is not trained in the working area, i.e. CMRNet does not learn the…