相关论文: Geo-locating Road Objects using Inverse Haversine …

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…

Image Goal Navigation (ImageNav) is evaluated by a coarse success criterion, the agent must stop within 1m of the target, which is sufficient for finding objects but falls short for downstream tasks such as grasping that require precise…

Precise estimation of global orientation and location is critical to ensure a compelling outdoor Augmented Reality (AR) experience. We address the problem of geo-pose estimation by cross-view matching of query ground images to a…

Localizing an object accurately with respect to a robot is a key step for autonomous robotic manipulation. In this work, we propose to tackle this task knowing only 3D models of the robot and object in the particular case where the scene is…

We present a novel approach for vanishing point detection from uncalibrated monocular images. In contrast to state-of-the-art, we make no a priori assumptions about the observed scene. Our method is based on a convolutional neural network…

Vehicle 3D extents and trajectories are critical cues for predicting the future location of vehicles and planning future agent ego-motion based on those predictions. In this paper, we propose a novel online framework for 3D vehicle…

Unmanned vehicles often need to locate targets with high precision during work. In the unmanned material handling workshop, the unmanned vehicle needs to perform high-precision pose estimation of the workpiece to accurately grasp the…

Accurate distance estimation is a fundamental challenge in robotic perception, particularly in omnidirectional imaging, where traditional geometric methods struggle with lens distortions and environmental variability. In this work, we…

Accurate metrical localization is one of the central challenges in mobile robotics. Many existing methods aim at localizing after building a map with the robot. In this paper, we present a novel approach that instead uses geotagged…

When humans play geolocation games such as GeoGuessr, they rely on concrete visual cues, such as road markings, vegetation, or architectural details, to infer where an image was captured. Whether image geolocation models rely on similar…

A key requirement for autonomous on-orbit proximity operations is the estimation of a target spacecraft's relative pose (position and orientation). It is desirable to employ monocular cameras for this problem due to their low cost, weight,…

Road construction sites create major challenges for both autonomous vehicles and human drivers due to their highly dynamic and heterogeneous nature. This paper presents a real-time system that detects and localizes roadworks by combining a…

Place recognition is an important task for robots and autonomous cars to localize themselves and close loops in pre-built maps. While single-modal sensor-based methods have shown satisfactory performance, cross-modal place recognition that…

In the RoboCup Small Size League (SSL), teams are encouraged to propose solutions for executing basic soccer tasks inside the SSL field using only embedded sensing information. Thus, this work proposes an embedded monocular vision approach…

Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…

A key capability for autonomous underground mining vehicles is real-time accurate localisation. While significant progress has been made, currently deployed systems have several limitations ranging from dependence on costly additional…

Predicting the future location of vehicles is essential for safety-critical applications such as advanced driver assistance systems (ADAS) and autonomous driving. This paper introduces a novel approach to simultaneously predict both the…

In a robotised warehouse, as in any place where robots move autonomously, a major issue is the localization or detection of human operators during their intervention in the work area of the robots. This paper introduces a wearable human…

External localization is an essential part for the indoor operation of small or cost-efficient robots, as they are used, for example, in swarm robotics. We introduce a two-stage localization and instance identification framework for…

We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…