相关论文: Vision-based localization methods under GPS-denied…

Vision-Language Model (VLM) have gained widespread adoption in Open-Vocabulary (OV) object detection and segmentation tasks. Despite they have shown promise on OV-related tasks, their effectiveness in conventional vision tasks has thus far…

The demand for autonomous vehicles is increasing gradually owing to their enormous potential benefits. However, several challenges, such as vehicle localization, are involved in the development of autonomous vehicles. A simple and secure…

In recent decades, several assistive technologies have been developed to improve the ability of blind and visually impaired (BVI) individuals to navigate independently and safely. At the same time, simultaneous localization and mapping…

Recent decades have witnessed a significant increase in the use of visual odometry(VO) in the computer vision area. It has also been used in varieties of robotic applications, for example on the Mars Exploration Rovers. This paper, firstly,…

Visual localization is a fundamental task that regresses the 6 Degree Of Freedom (6DoF) poses with image features in order to serve the high precision localization requests in many robotics applications. Degenerate conditions like motion…

Autonomous navigation emerges from both motion and local visual perception in real-world environments. However, most successful robotic motion estimation methods (e.g. VO, SLAM, SfM) and vision systems (e.g. CNN, visual place…

Traditional Visual Simultaneous Localization and Mapping (VSLAM) systems assume a static environment, which makes them ineffective in highly dynamic settings. To overcome this, many approaches integrate semantic information from deep…

Visual Place Recognition (VPR) is a core component in computer vision, typically formulated as an image retrieval task for localization, mapping, and navigation. In this work, we instead study VPR as an image pair retrieval front-end for…

This paper proposes a novel method for vision-based metric cross-view geolocalization (CVGL) that matches the camera images captured from a ground-based vehicle with an aerial image to determine the vehicle's geo-pose. Since aerial images…

Remote sensing has become a vital tool across sectors such as urban planning, environmental monitoring, and disaster response. While the volume of data generated has increased significantly, traditional vision models are often constrained…

The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…

Cross-view geo-localisation identifies coarse geographical position of an automated vehicle by matching a ground-level image to a geo-tagged satellite image from a database. Despite the advancements in Cross-view geo-localisation,…

Visible Light Positioning (VLP) has emerged as a promising technology for next-generation indoor positioning systems (IPS), particularly within the scope of sixth-generation (6G) wireless networks. Its attractiveness stems from leveraging…

This paper introduces a cost effective localization system combining monocular visual odometry , augmented reality (AR) poses, and integrated INS-GPS data. We address monocular VO scale factor issues using AR poses and enhance accuracy with…

This paper investigates the potential of vision-language models (VLMs) to assist people with blindness and low vision (pBLV) in navigation tasks. We evaluate state-of-the-art closed-source models, including GPT-4V, GPT-4o, Gemini-1.5-Pro,…

Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…

Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…

Video anomaly detection (VAD) has witnessed significant advancements through the integration of large language models (LLMs) and vision-language models (VLMs), addressing critical challenges such as interpretability, temporal reasoning, and…

Vision based localization is a popular approach to carry out manoeuvres particularly in GPS-restricted indoor environments, because vision can complement other activities performed by the robot. The objective is to estimate the current…

We propose a method for accurately localizing ground vehicles with the aid of satellite imagery. Our approach takes a ground image as input, and outputs the location from which it was taken on a georeferenced satellite image. We perform…