相关论文: Marker-Based Localisation System Using an Active P…
Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is still a challenge due to the environmental appearance…
This paper presents a novel data-driven navigation system to navigate an Unmanned Vehicle (UV) in GPS-denied, feature-deficient environments such as tunnels, or mines. The method utilizes landmarks that vehicle can deploy and measure range…
Learning-based visual relocalizers exhibit leading pose accuracy, but require hours or days of training. Since training needs to happen on each new scene again, long training times make learning-based relocalization impractical for most…
Co-localization is the problem of localizing objects of the same class using only the set of images that contain them. This is a challenging task because the object detector must be built without negative examples that can lead to more…
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 minimise…
Robust and accurate localization for Unmanned Aerial Vehicles (UAVs) is an essential capability to achieve autonomous, long-range flights. Current methods either rely heavily on GNSS, face limitations in visual-based localization due to…
Fast and robust pupil detection is an essential prerequisite for video-based eye-tracking in real-world settings. Several algorithms for image-based pupil detection have been proposed, their applicability is mostly limited to laboratory…
Despite the attention marker-less pose estimation has attracted in recent years, marker-based approaches still provide unbeatable accuracy under controlled environmental conditions. Thus, they are used in many fields such as robotics or…
In this paper, we propose an object-based camera pose estimation from a single RGB image and a pre-built map of objects, represented with ellipsoidal models. We show that contrary to point correspondences, the definition of a cost function…
Mainstream lane marker detection methods are implemented by predicting the overall structure and deriving parametric curves through post-processing. Complex lane line shapes require high-dimensional output of CNNs to model global…
Detecting elliptical objects from an image is a central task in robot navigation and industrial diagnosis where the detection time is always a critical issue. Existing methods are hardly applicable to these real-time scenarios of limited…
Modern robotic systems are required to operate in challenging environments, which demand reliable localization under challenging conditions. LiDAR-based localization methods, such as the Iterative Closest Point (ICP) algorithm, can suffer…
Beyond novel view synthesis, Neural Radiance Fields are useful for applications that interact with the real world. In this paper, we use them as an implicit map of a given scene and propose a camera relocalization algorithm tailored for…
Visual localization is an attractive problem that estimates the camera localization from database images based on the query image. It is a crucial task for various applications, such as autonomous vehicles, assistive navigation and…
In autonomous driving, detecting reliable and accurate lane marker positions is a crucial yet challenging task. The conventional approaches for the lane marker detection problem perform a pixel-level dense prediction task followed by…
Circular markers are planar markers which offer great performances for detection and pose estimation. For an uncalibrated camera with an unknown focal length, at least the images of at least two coplanar circles are generally required to…
Visible light communication (VLC) utilizes light-emitting diodes (LEDs) to transmit wireless data. A VLC network can also be used to localize mobile users in indoor environments, where the global positioning system (GPS) signals are weak.…
Optimizing the design, performance, and resource efficiency of wireless networks (WNs) necessitates the ability to discern Line of Sight (LoS) and Non-Line of Sight (NLoS) scenarios across diverse applications and environments. Unmanned…
This paper presents an infrastructure-free approach for obstacle detection and environmental mapping using ultra-wideband (UWB) radar mounted on a mobile robotic platform. Traditional sensing modalities such as visual cameras and Light…
Driver assistance systems as well as autonomous cars have to rely on sensors to perceive their environment. A heterogeneous set of sensors is used to perform this task robustly. Among them, radar sensors are indispensable because of their…