相关论文: VOLoc: Visual Place Recognition by Querying Compre…
Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…
Portable 360$^\circ$ cameras are becoming a cheap and efficient tool to establish large visual databases. By capturing omnidirectional views of a scene, these cameras could expedite building environment models that are essential for visual…
We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been…
We present LoD-Loc v3, a novel method for generalized aerial visual localization in dense urban environments. While prior work LoD-Loc v2 achieves localization through semantic building silhouette alignment with low-detail city models, it…
Multi-agents rely on accurate poses to share and align observations, enabling a collaborative perception of the environment. However, traditional GNSS-based localization often fails in GNSS-denied environments, making consistent feature…
Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…
We propose a novel method for aerial visual localization over low Level-of-Detail (LoD) city models. Previous wireframe-alignment-based method LoD-Loc has shown promising localization results leveraging LoD models. However, LoD-Loc mainly…
Visual place recognition is the task of recognizing a place depicted in an image based on its pure visual appearance without metadata. In visual place recognition, the challenges lie upon not only the changes in lighting conditions, camera…
LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…
We propose an accurate and robust multi-modal sensor fusion framework, MetroLoc, towards one of the most extreme scenarios, the large-scale metro vehicle localization and mapping. MetroLoc is built atop an IMU-centric state estimator that…
Visual localization is the task of estimating a 6-DoF camera pose of a query image within a provided 3D reference map. Thanks to recent advances in various 3D sensors, 3D point clouds are becoming a more accurate and affordable option for…
In this paper, we present a novel end-to-end learning-based LiDAR relocalization framework, termed PointLoc, which infers 6-DoF poses directly using only a single point cloud as input, without requiring a pre-built map. Compared to RGB…
We propose a novel vector aggregation technique for compact video representation, with application in accurate similarity detection within large video datasets. The current state-of-the-art in visual search is formed by the vector of…
Visual Place Recognition (VPR) is the ability of a robotic platform to correctly interpret visual stimuli from its on-board cameras in order to determine whether it is currently located in a previously visited place, despite different…
We propose PRISM-Loc - a lightweight and robust approach for localization in large outdoor environments that combines a compact topological representation with a novel scan-matching and curb-detection module operating on raw LiDAR scans.…
Current LiDAR odometry, mapping and localization methods leverage point-wise representations of 3D scenes and achieve high accuracy in autonomous driving tasks. However, the space-inefficiency of methods that use point-wise representations…
Event cameras are bio-inspired sensors with some notable features, including high dynamic range and low latency, which makes them exceptionally suitable for perception in challenging scenarios such as high-speed motion and extreme lighting…
LiDAR relocalization aims to estimate the global 6-DoF pose of a sensor in the environment. However, existing regression-based approaches are prone to dynamic or ambiguous scenarios, as they either solely rely on single-frame inference or…
Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…
In this paper, we present a high-performing solution to the UAVM 2025 Challenge, which focuses on matching narrow FOV street-level images to corresponding satellite imagery using the University-1652 dataset. As panoramic Cross-View…