相关论文: Cyber Physical System Information Collection: Robo…

This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…

Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…

Camera pose estimation is an important problem in computer vision. Common techniques either match the current image against keyframes with known poses, directly regress the pose, or establish correspondences between keypoints in the image…

Exploring the most task-friendly camera setting -- optimal camera placement (OCP) problem -- in tasks that use multiple cameras is of great importance. However, few existing OCP solutions specialize in depth observation of indoor scenes,…

Indoor localization is one of the crucial enablers for deployment of service robots. Although several successful techniques for indoor localization have been proposed, the majority of them relies on maps generated from data gathered with…

In atomic, molecular, and nuclear physics, the method of complex coordinate rotation is a widely used theoretical tool for studying resonant states. Here, we propose a novel implementation of this method based on the gradient optimization…

Cross-view geo-localization is the problem of estimating the position and orientation (latitude, longitude and azimuth angle) of a camera at ground level given a large-scale database of geo-tagged aerial (e.g., satellite) images. Existing…

We present gP4Pc, a new method for computing the absolute pose of a generalized camera with unknown internal scale from four corresponding 3D point-and-ray pairs. Unlike most pose-and-scale methods, gP4Pc is based on constraints arising…

Visual Place Recognition (VPR) enables systems to identify previously visited locations within a map, a fundamental task for autonomous navigation. Prior works have developed VPR solutions using event cameras, which asynchronously measure…

Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…

In this work, we present a camera geopositioning system based on matching a query image against a database with panoramic images. For matching, our system uses memory vectors aggregated from global image descriptors based on convolutional…

Globally localizing in a given map is a crucial ability for robots to perform a wide range of autonomous navigation tasks. This paper presents OneShot - a global localization algorithm that uses only a single 3D LiDAR scan at a time, while…

Camera, and associated with its objects within the field of view, localization could benefit many computer vision fields, such as autonomous driving, robot navigation, and augmented reality (AR). In this survey, we first introduce specific…

Image-based localization, or camera relocalization, is a fundamental problem in computer vision and robotics, and it refers to estimating camera pose from an image. Recent state-of-the-art approaches use learning based methods, such as…

Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…

Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…

Object pose estimation is a critical task in robotics for precise object manipulation. However, current techniques heavily rely on a reference 3D object, limiting their generalizability and making it expensive to expand to new object…

We propose a fast and accurate 6D object pose estimation from a RGB-D image. Our proposed method is template matching based and consists of three main technical components, PCOF-MOD (multimodal PCOF), balanced pose tree (BPT) and optimum…