相关论文: Cross-Modal Visual Relocalization in Prior LiDAR M…

Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…

In this paper, we tackle the task of estimating the 3D orientation of previously-unseen objects from monocular images. This task contrasts with the one considered by most existing deep learning methods which typically assume that the…

Aerial-ground localization is difficult due to large viewpoint and modality gaps between ground-level LiDAR and overhead imagery. We propose TransLocNet, a cross-modal attention framework that fuses LiDAR geometry with aerial semantic…

This paper presents LiteVLoc, a hierarchical visual localization framework that uses a lightweight topo-metric map to represent the environment. The method consists of three sequential modules that estimate camera poses in a coarse-to-fine…

In recent years, prior maps have become a mainstream tool in autonomous navigation. However, commonly available prior maps are still tailored to control-and-decision tasks, and the use of these maps for localization remains largely…

Event cameras are bio-inspired sensors with some notable features, including high dynamic range and low latency, which makes them exceptionally suitable for perception in challenging scenarios such as high-speed motion and extreme lighting…

Relocalization is the basis of map-based localization algorithms. Camera and LiDAR map-based methods are pervasive since their robustness under different scenarios. Generally, mapping and localization using the same sensor have better…

Visually poor scenarios are one of the main sources of failure in visual localization systems in outdoor environments. To address this challenge, we present MOZARD, a multi-modal localization system for urban outdoor environments using…

LiDAR and camera, as two different sensors, supply geometric (point clouds) and semantic (RGB images) information of 3D scenes. However, it is still challenging for existing methods to fuse data from the two cross sensors, making them…

Two crucial performance criteria for the deployment of visual localization are speed and accuracy. Current research on visual localization with neural networks is limited to examining methods for enhancing the accuracy of networks across…

Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational…

Regression-based LiDAR relocalization has recently emerged as a promising solution for high-precision positioning in GNSS-denied environments. However, these methods are primarily tailored to autonomous driving, exhibiting significantly…

This paper is about 3D pose estimation on LiDAR scans with extremely minimal storage requirements to enable scalable mapping and localisation. We achieve this by clustering all points of segmented scans into semantic objects and…

In this paper, we investigate an open research task of cross-modal retrieval between 3D shapes and textual descriptions. Previous approaches mainly rely on point cloud encoders for feature extraction, which may ignore key inherent features…

Depth estimation is usually ill-posed and ambiguous for monocular camera-based 3D multi-person pose estimation. Since LiDAR can capture accurate depth information in long-range scenes, it can benefit both the global localization of…

In this paper, we study the cross-modal image retrieval, where the inputs contain a source image plus some text that describes certain modifications to this image and the desired image. Prior work usually uses a three-stage strategy to…

Constructing a point cloud for a large geographic region, such as a state or country, can require multiple years of effort. Often several vendors will be used to acquire LiDAR data, and a single region may be captured by multiple LiDAR…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Place recognition is one of the most crucial modules for autonomous vehicles to identify places that were previously visited in GPS-invalid environments. Sensor fusion is considered an effective method to overcome the weaknesses of…

Place recognition is indispensable for a drift-free localization system. Due to the variations of the environment, place recognition using single-modality has limitations. In this paper, we propose a bi-modal place recognition method, which…