相关论文: Coupling of localization and depth data for mappin…

Optical sensors can capture dynamic environments and derive depth information in near real-time. The quality of these digital reconstructions is determined by factors like illumination, surface and texture conditions, sensing speed and…

Many cameras implement auto-focus functionality. However, they typically require the user to manually identify the location to be focused on. While such an approach works for temporally-sparse autofocusing functionality (e.g., photo…

We address the problem of vehicle self-localization from multi-modal sensor information and a reference map. The map is generated off-line by extracting landmarks from the vehicle's field of view, while the measurements are collected…

Recent advancements in visual localization and mapping have demonstrated considerable success in integrating point and line features. However, expanding the localization framework to include additional mapping components frequently results…

We propose and demonstrate experimentally a new method based on the spatial entanglement for the absolute calibration of analog detector. The idea consists on measuring the sub-shot-noise intensity correlation between two branches of…

We propose a novel approach to localize a 3D object from the intensity and depth information images provided by a Time-of-Flight (ToF) sensor. Our method uses two CNNs. The first one uses raw depth and intensity images as input, to segment…

Deep Neural Networks (DNNs) have been widely used for illumination estimation, which is time-consuming and requires sensor-specific data collection. Our proposed method uses a dual-mapping strategy and only requires a simple white point…

We introduce a new dynamic model with the capability of recognizing both activities that an individual is performing as well as where that ndividual is located. Our model is novel in that it utilizes a dynamic graphical model to jointly…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Computer vision (CV) has achieved great success in interpreting semantic meanings from images, yet CV algorithms can be brittle for tasks with adverse vision conditions and the ones suffering from data/label pair limitation. One of this…

In this paper we address the problem of indoor localization using magnetic field data in two setups, when data is collected by (i) human-held mobile phone and (ii) by localization robots that perturb magnetic data with their own…

In this paper we aim to determine the location and orientation of a ground-level query image by matching to a reference database of overhead (e.g. satellite) images. For this task we collect a new dataset with one million pairs of street…

Commonly used human motion capture systems require intrusive attachment of markers that are visually tracked with multiple cameras. In this work we present an efficient and inexpensive solution to markerless motion capture using only a few…

With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground…

Accurate camera localization is an essential part of tracking systems. However, localization results are greatly affected by illumination. Including data collected under various lighting conditions can improve the robustness of the…

In this paper, we present a new approach for improving 3D point and line mapping regression for camera re-localization. Previous methods typically rely on feature matching (FM) with stored descriptors or use a single network to encode both…

We address the indoor localization problem, where the goal is to predict user's trajectory from the data collected by their smartphone, using inertial sensors such as accelerometer, gyroscope and magnetometer, as well as other environment…

Finding correspondences between images or 3D scans is at the heart of many computer vision and image retrieval applications and is often enabled by matching local keypoint descriptors. Various learning approaches have been applied in the…

This work proposes a new method for place recognition based on the scene architecture. From depth video, we compute the 3D model and we derive and describe geometrically the 2D map from which the scene descriptor is deduced to constitute…

Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…