相关论文: View-Invariant Localization using Semantic Objects…

We present a novel framework for global localization and guided relocalization of a vehicle in an unstructured environment. Compared to existing methods, our pipeline does not rely on cues from urban fixtures (e.g., lane markings,…

This paper introduces a visual-based localization method for autonomous vehicles (AVs) that operate in the absence of any complicated hardware system but a single camera. Visual localization refers to techniques that aim to find the…

This paper explores visual motion-based invariants, resulting in a new instantaneous domain where: a) the stationary environment is perceived as unchanged, even as the 2D images undergo continuous changes due to camera motion, b) obstacles…

This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo-tracking methods offer…

We propose a stereo vision-based approach for tracking the camera ego-motion and 3D semantic objects in dynamic autonomous driving scenarios. Instead of directly regressing the 3D bounding box using end-to-end approaches, we propose to use…

Human visual scene understanding is so remarkable that we are able to recognize a revisited place when entering it from the opposite direction it was first visited, even in the presence of extreme variations in appearance. This capability…

Using an ego-centric camera to do localization and tracking is highly needed for urban navigation and indoor assistive system when GPS is not available or not accurate enough. The traditional hand-designed feature tracking and estimation…

Autonomous valet parking is a specific application for autonomous vehicles. In this task, vehicles need to navigate in narrow, crowded and GPS-denied parking lots. Accurate localization ability is of great importance. Traditional…

Assistive visual navigation systems for visually impaired individuals have become increasingly popular thanks to the rise of mobile computing. Most of these devices work by translating visual information into voice commands. In complex…

Accurate and robust localization remains a significant challenge for autonomous vehicles. The cost of sensors and limitations in local computational efficiency make it difficult to scale to large commercial applications. Traditional…

Accurate and reliable localization is a fundamental requirement for autonomous vehicles to use map information in higher-level tasks such as navigation or planning. In this paper, we present a novel approach to vehicle localization in dense…

This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…

Global localization is critical for autonomous navigation, particularly in scenarios where an agent must localize within a map generated in a different session or by another agent, as agents often have no prior knowledge about the…

We propose a vision-based method that localizes a ground vehicle using publicly available satellite imagery as the only prior knowledge of the environment. Our approach takes as input a sequence of ground-level images acquired by the…

Accurate localization ability is fundamental in autonomous driving. Traditional visual localization frameworks approach the semantic map-matching problem with geometric models, which rely on complex parameter tuning and thus hinder…

Humans are able to localize objects in the environment using both visual and auditory cues, integrating information from multiple modalities into a common reference frame. We introduce a system that can leverage unlabeled audio-visual data…

Visual localization is an essential component of intelligent transportation systems, enabling broad applications that require understanding one's self location when other sensors are not available. It is mostly tackled by image retrieval…

Visual localization under large changes in scale is an important capability in many robotic mapping applications, such as localizing at low altitudes in maps built at high altitudes, or performing loop closure over long distances. Existing…

The problem visual place recognition is commonly used strategy for localization. Most successful appearance based methods typically rely on a large database of views endowed with local or global image descriptors and strive to retrieve the…

This paper presents a new approach for integrating semantic information for vision-based vehicle navigation. Although vision-based vehicle navigation systems using pre-mapped visual landmarks are capable of achieving submeter level accuracy…