相关论文: ReLoc-PDR: Visual Relocalization Enhanced Pedestri…
This paper presents a novel constrained Factor Graph Optimization (FGO)-based approach for networked inertial navigation in pedestrian localization. To effectively mitigate the drift inherent in inertial navigation solutions, we incorporate…
Pedestrian detection plays a critical role in computer vision as it contributes to ensuring traffic safety. Existing methods that rely solely on RGB images suffer from performance degradation under low-light conditions due to the lack of…
Decentralized multi-robot LiDAR-SLAM is essential for collaborative missions but faces significant challenges in maintaining global consistency. Existing frameworks predominantly rely on local-search optimization or one-time coordinate…
LiDAR-based localization is valuable for applications like mining surveys and underground facility maintenance. However, existing methods can struggle when dealing with uninformative geometric structures in challenging scenarios. This paper…
Pedestrian trajectory modelling in an urban complex is challenging because pedestrians can have many possible destinations, such as shops, escalators, and attractions. Moreover, weather and time-of-day may affect pedestrian behavior. In…
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…
In safety-critical domains like automated driving (AD), errors by the object detector may endanger pedestrians and other vulnerable road users (VRU). As common evaluation metrics are not an adequate safety indicator, recent works employ…
Pedestrian detection in the wild remains a challenging problem especially when the scene contains significant occlusion and/or low resolution of the pedestrians to be detected. Existing methods are unable to adapt to these difficult cases…
Loop closures are essential for correcting odometry drift and creating consistent maps, especially in the context of large-scale navigation. Current methods using dense point clouds for accurate place recognition do not scale well due to…
The localization of objects is a crucial task in various applications such as robotics, virtual and augmented reality, and the transportation of goods in warehouses. Recent advances in deep learning have enabled the localization using…
We present the Brown Pedestrian Odometry Dataset (BPOD) for benchmarking visual odometry algorithms in head-mounted pedestrian settings. This dataset was captured using synchronized global and rolling shutter stereo cameras in 12 diverse…
In order to serve better VR experiences to users, existing predictive methods of Redirected Walking (RDW) exploit future information to reduce the number of reset occurrences. However, such methods often impose a precondition during…
Pedestrian trajectory prediction is an active research area with recent works undertaken to embed accurate models of pedestrians social interactions and their contextual compliance into dynamic spatial graphs. However, existing works rely…
The integration of Light Detection and Ranging (LiDAR) and Internet of Things (IoT) technologies offers transformative opportunities for public health informatics in urban safety and pedestrian well-being. This paper proposes a novel…
Relative Pose Regression (RPR) generalizes well to unseen environments, but its performance is often limited due to pairwise and local spatial views. To this end, we propose MultiLoc, a novel multi-view guided RPR model trained at scale,…
In this paper, a simultaneous localization and mapping (SLAM) algorithm for tracking the motion of a pedestrian with a foot-mounted inertial measurement unit (IMU) is proposed. The algorithm uses two maps, namely, a motion map and a…
We propose a novel visual localization and navigation framework for real-world environments directly integrating observed visual information into the bird-eye-view map. While the renderable neural radiance map (RNR-Map) shows considerable…
Flow-field reconstruction from sparse sensor measurements remains a central challenge in modern fluid dynamics, as the need for high-fidelity data often conflicts with practical limits on sensor deployment. Existing deep learning-based…
In this paper, we deal with a size-variable group of pedestrians moving in a unknown confined environment and searching for an exit. Pedestrian dynamics are simulated by means of a recently introduced microscopic (agent-based) model,…
Map-based LiDAR pose tracking is essential for long-term autonomous operation, where onboard map priors need be compact for scalable storage and fast retrieval, while online observations are often partial, repetitive, and heavily occluded.…