相关论文: FP-Loc: Lightweight and Drift-free Floor Plan-assi…

Robotic grasping is a primitive skill for complex tasks and is fundamental to intelligence. For general 6-Dof grasping, most previous methods directly extract scene-level semantic or geometric information, while few of them consider the…

Real-time situational awareness for the location of assets is critical to ensure missions are completed efficiently and requirements are satisfied. In many commercial settings, the application of global positioning system (GPS) sensors is…

In this paper, we propose a solution for legged robot localization using architectural plans. Our specific contributions towards this goal are several. Firstly, we develop a method for converting the plan of a building into what we denote…

Unmanned vehicles usually rely on Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) sensors to achieve high-precision localization results for navigation purpose. However, this combination with their associated costs…

The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…

We present a heterogeneous localization framework for solving radar global localization and pose tracking on pre-built lidar maps. To bridge the gap of sensing modalities, deep neural networks are constructed to create shared embedding…

Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic systems operating in unstructured environments. In particular, robust pick-and-place planning directly from noisy and only partial…

We present a novel approach to align partial 3D reconstructions which may not have substantial overlap. Using floorplan priors, our method jointly predicts a room layout and estimates the transformations from a set of partial 3D data.…

Mobile robots depend on maps for localization, planning, and other applications. In indoor scenarios, there is often lots of clutter present, such as chairs, tables, other furniture, or plants. While mapping this clutter is important for…

Device-free (DF) localization in WLANs has been introduced as a value-added service that allows tracking indoor entities that do not carry any devices. Previous work in DF WLAN localization focused on the tracking of a single entity due to…

To address the challenges of localization drift and perception-planning coupling in unmanned aerial vehicles (UAVs) operating in open-top scenarios (e.g., collapsed buildings, roofless mazes), this paper proposes EAROL, a novel framework…

Reliable and accurate localization is crucial for mobile autonomous systems. Pole-like objects, such as traffic signs, poles, lamps, etc., are ideal landmarks for localization in urban environments due to their local distinctiveness and…

Detecting small obstacles on the road is critical for autonomous driving. In this paper, we present a method to reliably detect such obstacles through a multi-modal framework of sparse LiDAR(VLP-16) and Monocular vision. LiDAR is employed…

This paper presents a novel indoor layout estimation system based on the fusion of 2D LiDAR and intensity camera data. A ground robot explores an indoor space with a single floor and vertical walls, and collects a sequence of intensity…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

An accurate and robust large-scale localization system is an integral component for active areas of research such as autonomous vehicles and augmented reality. To this end, many learning algorithms have been proposed that predict 6DOF…

The use of infrastructure sensor technology for traffic detection has already been proven several times. However, extrinsic sensor calibration is still a challenge for the operator. While previous approaches are unable to calibrate the…

Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…

Location fingerprinting locates devices based on pattern matching signal observations to a pre-defined signal map. This paper introduces a technique to enable fast signal map creation given a dedicated surveyor with a smartphone and…

Visual localization algorithms, i.e., methods that estimate the camera pose of a query image in a known scene, are core components of many applications, including self-driving cars and augmented / mixed reality systems. State-of-the-art…