相关论文: Error Decomposition for Hybrid Localization System…

Multi-agent pathfinding (MAPF) remains a critical problem in robotics and autonomous systems, where agents must navigate shared spaces efficiently while avoiding conflicts. Traditional centralized algorithms with global information provide…

How discriminative position information is for image classification depends on the data. On the one hand, the camera position is arbitrary and objects can appear anywhere in the image, arguing for translation invariance. At the same time,…

Accurate localization of other traffic participants is a vital task in autonomous driving systems. State-of-the-art systems employ a combination of sensing modalities such as RGB cameras and LiDARs for localizing traffic participants, but…

This paper addresses the problem of estimating the 3-DoF camera pose for a ground-level image with respect to a satellite image that encompasses the local surroundings. We propose a novel end-to-end approach that leverages the learning of…

Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…

This paper proposed a novel method for autonomous parking. Autonomous parking has received a lot of attention because of its convenience, but due to the complex environment and the non-holonomic constraints of vehicle, it is difficult to…

Object detection is a fundamental task in computer vision and has many applications in image processing. This paper proposes a new approach for object detection by applying scale invariant feature transform (SIFT) in an automatic…

Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…

State-of-the-art (SoTA) models have improved the accuracy of object detection with a large margin via a FP (feature pyramid). FP is a top-down aggregation to collect semantically strong features to improve scale invariance in both two-stage…

Precision mapping of landslide inventory is crucial for hazard mitigation. Most landslides generally co-exist with other confusing geological features, and the presence of such areas can only be inferred unambiguously at a large scale. In…

To reduce the amount of transmitted data, feature map based fusion is recently proposed as a practical solution to cooperative 3D object detection by autonomous vehicles. The precision of object detection, however, may require significant…

This paper proposes an efficient hybrid localization framework for the autonomous navigation of an unmanned ground vehicle in uneven or rough terrain, as well as techniques for detailed processing of 3D point cloud data. The framework is an…

Cross-modal place recognition methods are flexible GPS-alternatives under varying environment conditions and sensor setups. However, this task is non-trivial since extracting consistent and robust global descriptors from different…

Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, existing approaches often require dense lighting distributions.…

Multi-modal object detection in autonomous driving has achieved great breakthroughs due to the usage of fusing complementary information from different sensors. The calibration in fusion between sensors such as LiDAR and camera was always…

Most autonomous vehicles rely on accurate and efficient localization, which is achieved by comparing live sensor data to a preexisting map, to navigate their environment. Balancing the accuracy of localization with computational efficiency…

We present a hybrid cross-device localization pipeline developed for the CroCoDL 2025 Challenge. Our approach integrates a shared retrieval encoder and two complementary localization branches: a classical geometric branch using feature…

Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…

Sharing and joint processing of camera feeds and sensor measurements, known as Cooperative Perception (CP), has emerged as a new technique to achieve higher perception qualities. CP can enhance the safety of Autonomous Vehicles (AVs) where…

In affine formation control problems, the construction of the framework with universal rigidity and affine localizability is a critical prerequisite, but it has not yet been well addressed, especially when additional agents join the…