相关论文: RAVE: End-to-end Hierarchical Visual Localization …

Constructing a high-quality dense map in real-time is essential for robotics, AR/VR, and digital twins applications. As Neural Radiance Field (NeRF) greatly improves the mapping performance, in this paper, we propose a NeRF-based mapping…

We introduce a novel neural volumetric pose feature, termed PoseMap, designed to enhance camera localization by encapsulating the information between images and the associated camera poses. Our framework leverages an Absolute Pose…

Autonomous driving systems often degrade under adverse visibility conditions-such as rain, nighttime, or snow-where online scene geometry (e.g., lane dividers, road boundaries, and pedestrian crossings) becomes sparse or fragmented. While…

Accurate 3D object detection for autonomous driving requires complementary sensors. Cameras provide dense semantics but unreliable depth, while millimeter-wave radar offers precise range and velocity measurements with sparse geometry. We…

Place recognition is an important task within autonomous navigation, involving the re-identification of previously visited locations from an initial traverse. Unlike visual place recognition (VPR), LiDAR place recognition (LPR) is tolerant…

Visual relocalization is a key technique to autonomous driving, robotics, and virtual/augmented reality. After decades of explorations, absolute pose regression (APR), scene coordinate regression (SCR), and hierarchical methods (HMs) have…

A novel relative localization approach for guidance of a micro-scale Unmanned Aerial Vehicle (UAV) by a well-equipped aerial robot fusing Visual-Inertial Odometry (VIO) with Light Detection and Ranging (LiDAR) is proposed in this paper.…

Positional embeddings (PE) play a crucial role in Vision Transformers (ViTs) by providing spatial information otherwise lost due to the permutation invariant nature of self attention. While absolute positional embeddings (APE) have shown…

Autonomous driving systems rely on accurate perception and localization of the ego car to ensure safety and reliability in challenging real-world driving scenarios. Public datasets play a vital role in benchmarking and guiding advancement…

The integration of complementary characteristics from camera and radar data has emerged as an effective approach in 3D object detection. However, such fusion-based methods remain unexplored for place recognition, an equally important task…

Category-level object pose estimation requires both global context and local structure to ensure robustness against intra-class variations. However, 3D graph convolution (3D-GC) methods only focus on local geometry and depth information,…

We propose a new method for estimating the relative pose between two images, where we jointly learn keypoint detection, description extraction, matching and robust pose estimation. While our architecture follows the traditional pipeline for…

End-to-end autonomous driving offers a streamlined alternative to the traditional modular pipeline, integrating perception, prediction, and planning within a single framework. While Deep Reinforcement Learning (DRL) has recently gained…

Increasingly, autonomous vehicles (AVs) are becoming a reality, such as the Advanced Driver Assistance Systems (ADAS) in vehicles that assist drivers in driving and parking functions with vehicles today. The localization problem for AVs…

Localization is a critical technology in autonomous driving, encompassing both topological localization, which identifies the most similar map keyframe to the current observation, and metric localization, which provides precise spatial…

High-accurate localization is crucial for the safety and reliability of autonomous driving, especially for the information fusion of collective perception that aims to further improve road safety by sharing information in a communication…

4D radar has received significant attention in autonomous driving thanks to its robustness under adverse weathers. Due to the sparse points and noisy measurements of the 4D radar, most of the research finish the 3D object detection task by…

We propose BEV-Patch-PF, a GPS-free sequential geo-localization system that integrates a particle filter with learned bird's-eye-view (BEV) and aerial feature maps. From onboard RGB and depth images, we construct a BEV feature map. For each…

Prior foveated rendering methods often suffer from a limitation where the shading load escalates with increasing display resolution, leading to decreased efficiency, particularly when dealing with retinal-level resolutions. To tackle this…

For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc.. To build a robust exploration and localization system in a…