相关论文: SegLocNet: Multimodal Localization Network for Aut…
Semantic segmentation of remote sensing images plays a vital role in a wide range of Earth Observation applications, such as land use land cover mapping, environment monitoring, and sustainable development. Driven by rapid developments in…
Accurately determining the geographic location where a single image was taken, visual geolocation, remains a formidable challenge due to the planet's vastness and the deceptive similarity among distant locations. We introduce GeoLocSFT, a…
This work tackles scene understanding for outdoor robotic navigation, solely relying on images captured by an on-board camera. Conventional visual scene understanding interprets the environment based on specific descriptive categories.…
Constructing online High-Definition (HD) maps is crucial for the static environment perception of autonomous driving systems (ADS). Existing solutions typically attempt to detect vectorized HD map elements with unified models; however,…
Estimating vehicles' locations is one of the key components in intelligent traffic management systems (ITMSs) for increasing traffic scene awareness. Traditionally, stationary sensors have been employed in this regard. The development of…
Most autonomous cars rely on the availability of high-definition (HD) maps. Current research aims to address this constraint by directly predicting HD map elements from onboard sensors and reasoning about the relationships between the…
Self-localization on a 3D map by using an inexpensive monocular camera is required to realize autonomous driving. Self-localization based on a camera often uses a convolutional neural network (CNN) that can extract local features that are…
Traditional monocular direct visual odometry (DVO) is one of the most famous methods to estimate the ego-motion of robots and map environments from images simultaneously. However, DVO heavily relies on high-quality images and accurate…
In this letter, we introduce GroundLoc, a LiDAR-only localization pipeline designed to localize a mobile robot in large-scale outdoor environments using prior maps. GroundLoc employs a Bird's-Eye View (BEV) image projection focusing on the…
Safety is critical for autonomous driving, and one aspect of improving safety is to accurately capture the uncertainties of the perception system, especially knowing the unknown. Different from only providing deterministic or probabilistic…
Localization is a critical technology for various applications ranging from navigation and surveillance to assisted living. Localization systems typically fuse information from sensors viewing the scene from different perspectives to…
World models have attracted increasing attention in autonomous driving for their ability to forecast potential future scenarios. In this paper, we propose BEVWorld, a novel framework that transforms multimodal sensor inputs into a unified…
Vision-based localization in a prior map is of crucial importance for autonomous vehicles. Given a query image, the goal is to estimate the camera pose corresponding to the prior map, and the key is the registration problem of camera images…
Cross-view geo-localization for Unmanned Aerial Vehicles (UAVs) operating in GNSS-denied environments remains challenging due to the severe geometric discrepancy between oblique UAV imagery and orthogonal satellite maps. Most existing…
Autonomous navigation requires scene understanding of the action-space to move or anticipate events. For planner agents moving on the ground plane, such as autonomous vehicles, this translates to scene understanding in the bird's-eye view…
In autonomous driving, there is growing interest in end-to-end online vectorized map perception in bird's-eye-view (BEV) space, with an expectation that it could replace traditional high-cost offline high-definition (HD) maps. However, the…
To address the challenge of autonomous UGV localization in GNSS-denied off-road environments,this study proposes a matching-based localization method that leverages BEV perception image and satellite map within a road similarity space to…
This paper describes a novel approach to perform vehicle trajectory predictions employing graphic representations. The vehicles are represented using Gaussian distributions into a Bird Eye View. Then the U-net model is used to perform…
Semantic segmentation of satellite imagery is crucial for Earth observation applications, but remains constrained by limited labelled training data. While self-supervised pretraining methods like Masked Autoencoders (MAE) have shown…
In this paper, we address the novel, highly challenging problem of estimating the layout of a complex urban driving scenario. Given a single color image captured from a driving platform, we aim to predict the bird's-eye view layout of the…