相关论文: Jointly Optimized Global-Local Visual Localization…

In this work, we propose a simultaneous localization and mapping (SLAM) system using a monocular camera and Ultra-wideband (UWB) sensors. Our system, referred to as VRSLAM, is a multi-stage framework that leverages the strengths and…

Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…

The vision-based geo-localization technology for UAV, serving as a secondary source of GPS information in addition to the global navigation satellite systems (GNSS), can still operate independently in the GPS-denied environment. Recent deep…

The agility and versatility offered by UAV platforms still encounter obstacles for full exploitation in industrial applications due to their indoor usage limitations. A significant challenge in this sense is finding a reliable and…

Localization in a global map is critical to success in many autonomous robot missions. This is particularly challenging for multi-robot operations in unknown and adverse environments. Here, we are concerned with providing a small unmanned…

Relative localization of unmanned aerial vehicle (UAV) swarms in global navigation satellite system (GNSS) denied environments is essential for emergency rescue and battlefield reconnaissance. Existing methods suffer from significant…

Unmanned Aerial Vehicle (UAV) visual geo-localization aims to match images of the same geographic target captured from different views, i.e., the UAV view and the satellite view. It is very challenging due to the large appearance…

We propose an image-based cross-view geolocalization method that estimates the global pose of a UAV with the aid of georeferenced satellite imagery. Our method consists of two Siamese neural networks that extract relevant features despite…

Accurate and swift localization of the target is crucial in emergencies. However, accurate position data of a target mobile device, typically obtained from global navigation satellite systems (GNSS), cellular networks, or WiFi, may not…

Autonomous maritime surveillance and target vessel identification in environments where Global Navigation Satellite Systems (GNSS) are not available is critical for a number of applications such as search and rescue and threat detection.…

Many visual simultaneous localization and mapping (SLAM) systems have been shown to be accurate and robust, and have real-time performance capabilities on both indoor and ground datasets. However, these methods can be problematic when…

Vision-based localization for autonomous driving has been of great interest among researchers. When a pre-built 3D map is not available, the techniques of visual simultaneous localization and mapping (SLAM) are typically adopted. Due to…

Developing agents capable of navigating to a target location based on language instructions and visual information, known as vision-language navigation (VLN), has attracted widespread interest. Most research has focused on ground-based…

Aerial imagery and its direct application to visual localization is an essential problem for many Robotics and Computer Vision tasks. While Global Navigation Satellite Systems (GNSS) are the standard default solution for solving the aerial…

This paper reviews vision-based localization methods in GPS-denied environments and classifies the mainstream methods into Relative Vision Localization (RVL) and Absolute Vision Localization (AVL). For RVL, we discuss the broad application…

A novel relative localization approach for guidance of a micro-scale Unmanned Aerial Vehicle (UAV) by a well-equipped aerial robot fusing Visual-Inertial Odometry (VIO) with Light Detection and Ranging (LiDAR) is proposed in this paper.…

We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…

Monocular visual SLAM has become an attractive practical approach for robot localization and 3D environment mapping, since cameras are small, lightweight, inexpensive, and produce high-rate, high-resolution data streams. Although numerous…

We propose and demonstrate a fast, robust method for using satellite images to localize an Unmanned Aerial Vehicle (UAV). Previous work using satellite images has large storage and computation costs and is unable to run in real time. In…

Accurate geo-localization of Unmanned Aerial Vehicles (UAVs) is crucial for outdoor applications including search and rescue operations, power line inspections, and environmental monitoring. The vulnerability of Global Navigation Satellite…