相关论文: A Visual-inertial Localization Algorithm using Opp…
An algorithm for pose and motion estimation using corresponding features in images and a digital terrain map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables recovering the absolute…
Visual Place Recognition (VPR) refers to the process of using computer vision to recognize the position of the current query image. Due to the significant changes in appearance caused by season, lighting, and time spans between query images…
Safe, socially compliant, and efficient navigation of low-speed autonomous vehicles (AVs) in pedestrian-rich environments necessitates considering pedestrians' future positions and interactions with the vehicle and others. Despite the…
This paper introduces a novel unsupervised neural network model for visual information encoding which aims to address the problem of large-scale visual localization. Inspired by the structure of the visual cortex, the model (namely HSD)…
Visual Place Recognition (VPR) localizes a query image by matching it against a database of geo-tagged reference images, making it essential for navigation and mapping in robotics. Although Vision Transformer (ViT) solutions deliver high…
In visual localization, Absolute Pose Regression (APR) enables real-time 6-DoF camera pose inference from single images, yet critically depends on fine-tuning data quality and coverage. While recent methods leverage 3D Gaussian Splatting…
In a Simultaneous Localization and Mapping (SLAM) system, a loop-closure can eliminate accumulated errors, which is accomplished by Visual Place Recognition (VPR), a task that retrieves the current scene from a set of pre-stored sequential…
The visual camera is an attractive device in beyond visual line of sight (B-VLOS) drone operation, since they are low in size, weight, power, and cost, and can provide redundant modality to GPS failures. However, state-of-the-art visual…
In this thesis a probabilistic framework is developed and proposed for Dynamic Object Recognition in 3D Environments. A software package is developed using C++ and Python in ROS that performs the detection and tracking task. Furthermore, a…
Robust visual place recognition (VPR) requires scene representations that are invariant to various environmental challenges such as seasonal changes and variations due to ambient lighting conditions during day and night. Moreover, a…
A pedestrian navigation system (PNS) in indoor environments, where global navigation satellite system (GNSS) signal access is difficult, is necessary, particularly for search and rescue (SAR) operations in large buildings. This paper…
This paper proposes a novel algorithm for vehicle speed-aided monocular visual-inertial localization using a topological map. The proposed system aims to address the limitations of existing methods that rely heavily on expensive sensors…
While visual localization or SLAM has witnessed great progress in past decades, when deploying it on a mobile robot in practice, few works have explicitly considered the kinematic (or dynamic) constraints of the real robotic system when…
It's a practical approach using the ground-aerial collaborative system to enhance the localization robustness of flying robots in cluttered environments, especially when visual sensors degrade. Conventional approaches estimate the flying…
The visual simultaneous localization and mapping(vSLAM) is widely used in GPS-denied and open field environments for ground and surface robots. However, due to the frequent perception failures derived from lacking visual texture or the…
This letter introduces a novel unmanned aerial vehicle (UAV)-intelligent reflecting surface (IRS) structure into near-field localization systems to enhance the design flexibility of IRS, thereby obtaining additional performance gains.…
Precise, consistent, and reliable positioning is crucial for a multitude of uses. In order to achieve high precision global positioning services, multi-sensor fusion techniques, such as the Global Navigation Satellite System (GNSS)/Inertial…
Visual Place Recognition (VPR) has been traditionally formulated as a single-image retrieval task. Using multiple views offers clear advantages, yet this setting remains relatively underexplored and existing methods often struggle to…
Visual place recognition (VPR) is an essential component of robot navigation and localization systems that allows them to identify a place using only image data. VPR is challenging due to the significant changes in a place's appearance…
LiDAR-based Place Recognition (LPR) remains a critical task in Embodied Artificial Intelligence (AI) and Autonomous Driving, primarily addressing localization challenges in GPS-denied environments and supporting loop closure detection.…