相关论文: AirLoc: Object-based Indoor Relocalization

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…

Visual geolocalization is a cost-effective and scalable task that involves matching one or more query images, taken at some unknown location, to a set of geo-tagged reference images. Existing methods, devoted to semantic features…

Deep learning has achieved impressive results in camera localization, but current single-image techniques typically suffer from a lack of robustness, leading to large outliers. To some extent, this has been tackled by sequential…

Visual localization is crucial for Computer Vision and Augmented Reality (AR) applications, where determining the camera or device's position and orientation is essential to accurately interact with the physical environment. Traditional…

This paper describes a multi-modal data association method for global localization using object-based maps and camera images. In global localization, or relocalization, using object-based maps, existing methods typically resort to matching…

As smart homes become more prevalent in daily life, the ability to understand dynamic environments is essential which is increasingly dependent on AI systems. This study focuses on developing an intelligent algorithm which can navigate a…

Camera relocalization, a cornerstone capability of modern computer vision, accurately determines a camera's position and orientation (6-DoF) from images and is essential for applications in augmented reality (AR), mixed reality (MR),…

We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…

Recent advancements in energy-efficient hardware technology is driving the exponential growth we are experiencing in the Internet of Things (IoT) space, with more pervasive computations being performed near to data generation sources. A…

Visual relocalization has been a widely discussed problem in 3D vision: given a pre-constructed 3D visual map, the 6 DoF (Degrees-of-Freedom) pose of a query image is estimated. Relocalization in large-scale indoor environments enables…

We present a novel approach for relocalization or place recognition, a fundamental problem to be solved in many robotics, automation, and AR applications. Rather than relying on often unstable appearance information, we consider a situation…

This article addresses the localization problem in robotic autonomous luggage trolley collection at airports and provides a systematic evaluation of different methods to solve it. The robotic autonomous luggage trolley collection is a…

We present LaLaLoc to localise in environments without the need for prior visitation, and in a manner that is robust to large changes in scene appearance, such as a full rearrangement of furniture. Specifically, LaLaLoc performs…

Wireless indoor localization has been a pivotal area of research over the last two decades, becoming a cornerstone for numerous sensing applications. However, conventional wireless localization methods rely on channel state information to…

In this work, we explore the use of objects in Simultaneous Localization and Mapping in unseen worlds and propose an object-aided system (OA-SLAM). More precisely, we show that, compared to low-level points, the major benefit of objects…

We present LoD-Loc v3, a novel method for generalized aerial visual localization in dense urban environments. While prior work LoD-Loc v2 achieves localization through semantic building silhouette alignment with low-detail city models, it…

Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…

With the unprecedented demand for location-based services in indoor scenarios, wireless indoor localization has become essential for mobile users. While GPS is not available at indoor spaces, WiFi RSS fingerprinting has become popular with…

We introduce a novel problem, i.e., the localization of an input image within a multi-modal reference map represented by a database of 3D scene graphs. These graphs comprise multiple modalities, including object-level point clouds, images,…

Retrieving images from the same location as a given query is an important component of multiple computer vision tasks, like Visual Place Recognition, Landmark Retrieval, Visual Localization, 3D reconstruction, and SLAM. However, existing…