相关论文: Non-Point Visible Light Transmitter Localization b…

In this paper, we propose a monocular visual localization pipeline leveraging semantic and depth cues. We apply semantic consistency evaluation to rank the image retrieval results and a practical clustering technique to reject estimation…

Reliable localization is one of the most important parts of an MAV system. Localization in an indoor GPS-denied environment is a relatively difficult problem. Current vision based algorithms track optical features to calculate odometry. We…

Visible light communication (VLC) using light-emitting-diodes (LEDs) has been a popular research area recently. VLC can provide a practical solution for indoor positioning. In this paper, the impact of multipath reflections on indoor VLC…

Visible Light Communication~(VLC) systems provide not only illumination and data communication, but also indoor monitoring services if the effect that different events create on the received optical signal is properly tracked. For this…

In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based on expensive…

In this paper, we propose an efficient algorithm for robust place recognition and loop detection using camera information only. Our pipeline purely relies on spatial localization and semantic information of road markings. The creation of…

This paper proposes a joint communication and indoor positioning (JCP) system based on visible light communication (VLC) designed for high-precision indoor environments. The framework supports 2D and 3D positioning using received signal…

In recent years, with the increasing demand for indoor positioning service, visible light indoor positioning based on image sensors has been widely studied. However, many researches only put forward the relevant localization algorithm and…

This paper proposes a low-level visual navigation algorithm to improve visual localization of a mobile robot. The algorithm, based on artificial potential fields, associates each feature in the current image frame with an attractive or…

Visual place recognition methods struggle with occlusions and partial visual overlaps. We propose a novel visual place recognition approach based on overlap prediction, called VOP, shifting from traditional reliance on global image…

Object localization is an important computer vision problem with a variety of applications. The lack of large scale object-level annotations and the relative abundance of image-level labels makes a compelling case for weak supervision in…

Localization of mobile robots is crucial for deploying robots in real-world applications such as search and rescue missions. This work aims to develop an accurate localization system applicable to swarm robots equipped only with low-cost…

Accurate localization of other traffic participants is a vital task in autonomous driving systems. State-of-the-art systems employ a combination of sensing modalities such as RGB cameras and LiDARs for localizing traffic participants, but…

We present MonoPSR, a monocular 3D object detection method that leverages proposals and shape reconstruction. First, using the fundamental relations of a pinhole camera model, detections from a mature 2D object detector are used to generate…

This paper proposes a novel algorithm for vehicle speed-aided monocular visual-inertial localization using a topological map. The proposed system aims to address the limitations of existing methods that rely heavily on expensive sensors…

Visual place recognition (VPR) - the act of recognizing a familiar visual place - becomes difficult when there is extreme environmental appearance change or viewpoint change. Particularly challenging is the scenario where both phenomena…

Traditional visible light positioning (VLP) systems estimate receivers' coordinates based on the known light-emitting diode (LED) coordinates. However, the LED coordinates are not always known accurately. Because of the structural changes…

Robust localization in dense urban scenarios using a low-cost sensor setup and sparse HD maps is highly relevant for the current advances in autonomous driving, but remains a challenging topic in research. We present a novel monocular…

In this paper we consider the localization problem for a visual sensor network. Inspired by the alternate attitude and position distributed optimization framework discussed in [1], we propose an estimation scheme that exploits the unit dual…

In this paper, we propose a ground-based monocular UAV localisation system that detects and localises an LED marker attached to the underside of a UAV. Our system removes the need for extensive infrastructure and calibration unlike existing…