相关论文: MobileARLoc: On-device Robust Absolute Localisatio…

Recent years have witnessed the fast growth in telecommunication (Telco) techniques from 2G to upcoming 5G. Precise outdoor localization is important for Telco operators to manage, operate and optimize Telco networks. Differing from GPS,…

While substantial progress has been made in the absolute performance of localization and Visual Place Recognition (VPR) techniques, it is becoming increasingly clear from translating these systems into applications that other capabilities…

Globally-consistent localization in urban environments is crucial for autonomous systems such as self-driving vehicles and drones, as well as assistive technologies for visually impaired people. Traditional Visual-Inertial Odometry (VIO)…

Augmented Reality (AR) is becoming mobile. Mobile devices have many constraints but also rich new features that traditional desktop computers do not have. There are several survey papers on AR, but none is dedicated to Mobile Augmented…

Underwater visual localization remains challenging due to wavelength-dependent attenuation, poor texture, and non-Gaussian sensor noise. We introduce MARVO, a physics-aware, learning-integrated odometry framework that fuses underwater image…

Indoor localization opens the path to potentially transformative applications. Although many indoor localization methods have been proposed over the years, they remain too impractical for widespread deployment in the real world. In this…

This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…

Dense 3D semantic occupancy perception is critical for mobile robots operating in pedestrian-rich environments, yet it remains underexplored compared to its application in autonomous driving. To address this gap, we present MobileOcc, a…

Accurate pose estimation is fundamental for unmanned aerial vehicle (UAV) applications, where Visual-Inertial SLAM (VI-SLAM) provides a cost-effective solution for localization and mapping. However, existing VI-SLAM methods mainly rely on…

Predictive world models that simulate future observations under explicit camera control are fundamental to interactive AI. Despite rapid advances, current systems lack spatial persistence: they fail to maintain stable scene structures over…

This paper introduces a novel smartphone-enabled localization technology for ambient Internet of Things (IoT) devices, leveraging the widespread use of smartphones. By utilizing the passive movement of a smartphone, we create a virtual…

The emerging Internet of Things (IoT) applications, such as driverless cars, have a growing demand for high-precision positioning and navigation. Nowadays, LiDAR inertial odometry becomes increasingly prevalent in robotics and autonomous…

We present the next generation of MobileNets based on a combination of complementary search techniques as well as a novel architecture design. MobileNetV3 is tuned to mobile phone CPUs through a combination of hardware-aware network…

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…

Visual localization refers to the process of determining camera poses and orientation within a known scene representation. This task is often complicated by factors such as changes in illumination and variations in viewing angles. In this…

Many robotics and industry applications have a high demand for the capability to estimate the 6D pose of novel objects from the cluttered scene. However, existing classic pose estimation methods are object-specific, which can only handle…

We propose UnLoc, an efficient data-driven solution for sequential camera localization within floorplans. Floorplan data is readily available, long-term persistent, and robust to changes in visual appearance. We address key limitations of…

Visual Localization is an essential component in autonomous navigation. Existing approaches are either based on the visual structure from SLAM/SfM or the geometric structure from dense mapping. To take the advantages of both, in this work,…

Mobile Augmented Reality (MAR) applications face performance challenges due to their high computational demands and need for low-latency responses. Traditional approaches like on-device storage or reactive data fetching from the cloud often…

In this work, we propose a new learning approach for autonomous navigation and landing of an Unmanned-Aerial-Vehicle (UAV). We develop a multimodal fusion of deep neural architectures for visual-inertial odometry. We train the model in an…