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

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.…

Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…

We present BEV-SLD, a LiDAR global localization method building on the Scene Landmark Detection (SLD) concept. Unlike scene-agnostic pipelines, our self-supervised approach leverages bird's-eye-view (BEV) images to discover scene-specific…

This paper presents Vision-Language Global Localization (VLG-Loc), a novel global localization method that uses human-readable labeled footprint maps containing only names and areas of distinctive visual landmarks in an environment. While…

Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…

Visual place recognition is essential for vision-based robot localization and SLAM. Despite the tremendous progress made in recent years, place recognition in changing environments remains challenging. A promising approach to cope with…

The ability for a moving agent to localize itself in environment is the basic demand for emerging applications, such as autonomous driving, etc. Many existing methods based on multiple sensors still suffer from drift. We propose a scheme…

In dynamic environments, the ability to detect and track moving objects in real-time is crucial for autonomous robots to navigate safely and effectively. Traditional methods for dynamic object detection rely on high accuracy odometry and…

Long event sequences (termed traces) and large data logs that originate from sensors and prediction models are becoming increasingly common in our data-rich world. In such scenarios, conformance checking-validating a data log against an…

This paper deals with the development of a localization methodology for autonomous vehicles using only a $3\Dim$ LIDAR sensor. In the context of this paper, localizing a vehicle in a known 3D global map of the environment is essentially to…

With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…

Determining the precise geographic location of an image at a global scale remains an unsolved challenge. Standard image retrieval techniques are inefficient due to the sheer volume of images (>100M) and fail when coverage is insufficient.…

Visible light communication (VLC) is expected to be a key component of future wireless networks due to its abundant license-free spectrum, inherent high-level security, and the already deployed lighting infrastructure. VLC performance,…

Accurate localization is a critical component of mobile autonomous systems, especially in Global Navigation Satellite Systems (GNSS)-denied environments where traditional methods fail. In such scenarios, environmental sensing is essential…

A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…

Place recognition plays a crucial role in re-localization and loop closure detection tasks for robots and vehicles. This paper seeks a well-defined global descriptor for LiDAR-based place recognition. Compared to local descriptors, global…

Autonomous vehicles require accurate and robust localization and mapping algorithms to navigate safely and reliably in urban environments. We present a novel sensor fusion-based pipeline for offline mapping and online localization based on…

LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…

The reliability of information in participatory sensing (PS) systems largely depends on the accuracy of the location of the participating users. However, existing PS applications are not able to efficiently validate the position of users in…

Recently, Vehicle-to-Everything(V2X) cooperative perception has attracted increasing attention. Infrastructure sensors play a critical role in this research field; however, how to find the optimal placement of infrastructure sensors is…