相关论文: Marker-Based Localisation System Using an Active P…
Calibration of devices with different modalities is a key problem in robotic vision. Regular spatial objects, such as planes, are frequently used for this task. This paper deals with the automatic detection of ellipses in camera images, as…
Event cameras, featuring high temporal resolution and high dynamic range, offer visual sensing capabilities comparable to conventional image sensors while capturing fast-moving objects and handling scenes with extreme lighting contrasts…
Navigation of a mobile robot is conditioned on the knowledge of its pose. In observer-based localisation configurations its initial pose may not be knowable in advance, leading to the need of its estimation. Solutions to the problem of…
We propose an Ultra-Fast, Device-Free Visible Light Sensing and Positioning system that captures spatiotemporal variations in single-LED VLC channel responses, using ceiling-mounted photodetectors, to accurately and non-intrusively infer…
In this paper, we propose an encoder-decoder convolutional neural network (CNN) architecture for estimating camera pose (orientation and location) from a single RGB-image. The architecture has a hourglass shape consisting of a chain of…
Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS. In this work, we are concerned with estimating the pose…
In the absence of global positioning information, place recognition is a key capability for enabling localization, mapping and navigation in any environment. Most place recognition methods rely on images, point clouds, or a combination of…
The availability of a robust map-based localization system is essential for the operation of many autonomously navigating vehicles. Since uncertainty is an inevitable part of perception, it is beneficial for the robustness of the robot to…
General Visual Inspection is a manual inspection process regularly used to detect and localise obvious damage on the exterior of commercial aircraft. There has been increasing demand to perform this process at the boarding gate to minimize…
It is challenging for humans to enable visual knowledge discovery in data with more than 2-3 dimensions with a naked eye. This chapter explores the efficiency of discovering predictive machine learning models interactively using new…
This paper deals with the problem of localization in a cellular network in a dense urban scenario. Global Navigation Satellite System typically performs poorly in urban environments when there is no line-of-sight between the devices and the…
Traditional approaches to extrinsic calibration use fiducial markers and learning-based approaches rely heavily on simulation data. In this work, we present a learning-based markerless extrinsic calibration system that uses a depth camera…
We propose a novel method for geolocalizing Unmanned Aerial Vehicles (UAVs) in environments lacking Global Navigation Satellite Systems (GNSS). Current state-of-the-art techniques employ an offline-trained encoder to generate a vector…
Optical communication using modulated LEDs (e.g., visible light communication) is an emerging application for event cameras, thanks to their high spatio-temporal resolutions. Event cameras can be used simply to decode the LED signals and…
This paper proposes a robust, high-precision positioning methodology to address localization failures arising from complex background interference in large-scale flight navigation and the computational inefficiency inherent in conventional…
Collision avoidance and platooning applications require vehicle localization at cm-level accuracy and at least 50 Hz rate for full autonomy. The RADAR/LIDAR and camera based methods currently used for vehicle localization do not satisfy…
Real-time applications for autonomous operations depend largely on fast and robust vision-based localization systems. Since image processing tasks require processing large amounts of data, the computational resources often limit the…
The demand for future wireless communication systems is being satisfied for various circumstances through unmanned aerial vehicles (UAVs), which act as flying base stations (BSs). In this letter, we propose an ellipse clustering algorithm…
Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…
Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…