相关论文: GOReloc: Graph-based Object-Level Relocalization f…

We propose a novel feature re-identification method for real-time visual-inertial SLAM. The front-end module of the state-of-the-art visual-inertial SLAM methods (e.g. visual feature extraction and matching schemes) relies on feature tracks…

Hand-eye calibration is the problem of estimating the spatial transformation between a reference frame, usually the base of a robot arm or its gripper, and the reference frame of one or multiple cameras. Generally, this calibration is…

The capability of multi-robot SLAM approaches to merge localization history and maps from different observers is often challenged by the difficulty in establishing data association. Loop closure detection between perceptual inputs of…

With the increase in the availability of Building Information Models (BIM) and (semi-) automatic tools to generate BIM from point clouds, we propose a world model architecture and algorithms to allow the use of the semantic and geometric…

Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…

This paper presents a framework for jointly grounding objects that follow certain semantic relationship constraints given in a scene graph. A typical natural scene contains several objects, often exhibiting visual relationships of varied…

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…

We introduce Object-Guided Localization (OGuL) based on a novel method of local-feature matching. Direct matching of local features is sensitive to significant changes in illumination. In contrast, object detection often survives severe…

Visual localization is crucial for Computer Vision and Augmented Reality (AR) applications, where determining the camera or device's position and orientation is essential to accurately interact with the physical environment. Traditional…

Object SLAM uses additional semantic information to detect and map objects in the scene, in order to improve the system's perception and map representation capabilities. Quadrics and cubes are often used to represent objects, but their…

In recent years, developing AI for robotics has raised much attention. The interaction of vision and language of robots is particularly difficult. We consider that giving robots an understanding of visual semantics and language semantics…

Existing visual tracking methods usually localize a target object with a bounding box, in which the performance of the foreground object trackers or detectors is often affected by the inclusion of background clutter. To handle this problem,…

Visual navigation using only a single camera and a topological map has recently become an appealing alternative to methods that require additional sensors and 3D maps. This is typically achieved through an "image-relative" approach to…

Multi-Label Image Classification (MLIC) aims to predict a set of labels that present in an image. The key to deal with such problem is to mine the associations between image contents and labels, and further obtain the correct assignments…

Object placement aims to place a foreground object over a background image with a suitable location and size. In this work, we treat object placement as a graph completion problem and propose a novel graph completion module (GCM). The…

We propose a Visual-SLAM based localization and navigation system for service robots. Our system is built on top of the ORB-SLAM monocular system but extended by the inclusion of wheel odometry in the estimation procedures. As a case study,…

In dynamic environments, performance of visual SLAM techniques can be impaired by visual features taken from moving objects. One solution is to identify those objects so that their visual features can be removed for localization and…

We propose a novel Line based parameterization for category specific CAD models. The proposed parameterization associates 3D category-specific CAD model and object under consideration using a dictionary based RANSAC method that uses object…

Visual SLAM (Simultaneous Localization and Mapping) based on planar features has found widespread applications in fields such as environmental structure perception and augmented reality. However, current research faces challenges in…

Navigation solutions suitable for cases when both autonomous robot's pose (\textit{i.e}., attitude and position) and its environment are unknown are in great demand. Simultaneous Localization and Mapping (SLAM) fulfills this need by…