相关论文: Global Localization in Unstructured Environments u…

Visual robot self-localization is a fundamental problem in visual robot navigation and has been studied across various problem settings, including monocular and sequential localization. However, many existing studies focus primarily on…

Precisely estimating a robot's pose in a prior, global map is a fundamental capability for mobile robotics, e.g. autonomous driving or exploration in disaster zones. This task, however, remains challenging in unstructured, dynamic…

On the off-the-shelf navigational assistance devices, the localization precision is limited to the signal error of global navigation satellite system (GNSS). During travelling outdoors, the inaccurately localization perplexes visually…

Global registration of multi-view robot data is a challenging task. Appearance-based global localization approaches often fail under drastic view-point changes, as representations have limited view-point invariance. This work is based on…

This paper deals with the development of a localization methodology for autonomous vehicles using only a $3\Dim$ LIDAR sensor. In the context of this paper, localizing a vehicle in a known 3D global map of the environment is essentially to…

The ability for a moving agent to localize itself in environment is the basic demand for emerging applications, such as autonomous driving, etc. Many existing methods based on multiple sensors still suffer from drift. We propose a scheme…

Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…

Worldwide geo-localization involves determining the exact geographic location of images captured globally, typically guided by geographic cues such as climate, landmarks, and architectural styles. Despite advancements in geo-localization…

Localization is an important required task for enabling vehicle autonomy for underwater vehicles. Localization entails the determination of position of the center of mass and orientation of a vehicle from the available measurements. In this…

Navigation in unknown, chaotic environments continues to present a significant challenge for the robotics community. Lighting changes, self-similar textures, motion blur, and moving objects are all considerable stumbling blocks for…

Geo-localizing static objects from street images is challenging but also very important for road asset mapping and autonomous driving. In this paper we present a two-stage framework that detects and geolocalizes traffic signs from low frame…

Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models to localize robots and build maps simultaneously using…

The information about pavement surface type is rarely available in road network databases of developing countries although it represents a cornerstone of the design of efficient mobility systems. This research develops an automatic…

Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path length and travel time, perform poorly on…

Accurate localization is a foundational capacity, required for autonomous vehicles to accomplish other tasks such as navigation or path planning. It is a common practice for vehicles to use GPS to acquire location information. However, the…

Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households or warehouses. In these environments, long-term dynamics…

LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…

Semantic SLAM is an important field in autonomous driving and intelligent agents, which can enable robots to achieve high-level navigation tasks, obtain simple cognition or reasoning ability and achieve language-based…

In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…

The integration of a SLAM algorithm with place recognition technology empowers it with the ability to mitigate accumulated errors and to relocalize itself. However, existing methods for point cloud-based place recognition predominantly rely…