相关论文: Reliable-loc: Robust sequential LiDAR global local…

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…

Vehicle localization using roadside LiDARs can provide centimeter-level accuracy for cloud-controlled vehicles while simultaneously serving multiple vehicles, enhanc-ing safety and efficiency. While most existing studies rely on repetitive…

Camera relocalization, a cornerstone capability of modern computer vision, accurately determines a camera's position and orientation (6-DoF) from images and is essential for applications in augmented reality (AR), mixed reality (MR),…

One of the hardest challenges to face in the development of a non GPS-based localization system for autonomous vehicles is the changes of the environment. LiDAR-based systems typically try to match the last measurements obtained with a…

We present the design of an entire on-device system for large-scale urban localization using images. The proposed design integrates compact image retrieval and 2D-3D correspondence search to estimate the location in extensive city regions.…

Ultra-wideband (UWB) is gaining popularity with devices like AirTags for precise home item localization but faces significant challenges when scaled to large environments like seaports. The main challenges are calibration and localization…

Nowadays, static, mobile, terrestrial, and airborne laser scanning technologies have become familiar data sources for engineering work, especially in the area of land surveying. The diversity of Light Detection and Ranging (LiDAR) data…

High-precision localization and environmental sensing are essential for a new wave of applications, ranging from industrial automation and autonomous systems to augmented reality and remote healthcare. Conventional wireless methods,…

Place recognition is a challenging task in computer vision, crucial for enabling autonomous vehicles and robots to navigate previously visited environments. While significant progress has been made in learnable multimodal methods that…

Recent advancements in LiDAR technology have significantly lowered costs and improved both its precision and resolution, thereby solidifying its role as a critical component in autonomous vehicle localization. Using sophisticated 3D…

Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map…

In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency…

The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…

Despite the importance of unsupervised object detection, to the best of our knowledge, there is no previous work addressing this problem. One main issue, widely known to the community, is that object boundaries derived only from 2D image…

Accurate visual re-localization is very critical to many artificial intelligence applications, such as augmented reality, virtual reality, robotics and autonomous driving. To accomplish this task, we propose an integrated visual…

Lifelong localization in a given map is an essential capability for autonomous service robots. In this paper, we consider the task of long-term localization in a changing indoor environment given sparse CAD floor plans. The commonly used…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

Efficient UAV exploration in unknown environments requires rapid coverage expansion while maintaining accurate and reliable localization, since safe navigation in complex scenes depends on consistent mapping and pose estimation. However,…

Localization of objects is vital for robot-object interaction. Light Detection and Ranging (LiDAR) application in robotics is an emerging and widely used object localization technique due to its accurate distance measurement, long-range,…

Large Vision Language Models (VLMs), such as CLIP, have significantly contributed to various computer vision tasks, including object recognition and object detection. Their open vocabulary feature enhances their value. However, their…