相关论文: LightLoc: Learning Outdoor LiDAR Localization at L…

Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…

Existing learning methods for LiDAR-based applications use 3D points scanned under a pre-determined beam configuration, e.g., the elevation angles of beams are often evenly distributed. Those fixed configurations are task-agnostic, so…

Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…

Retrieving images from the same location as a given query is an important component of multiple computer vision tasks, like Visual Place Recognition, Landmark Retrieval, Visual Localization, 3D reconstruction, and SLAM. However, existing…

In this paper, we present a novel end-to-end learning-based LiDAR relocalization framework, termed PointLoc, which infers 6-DoF poses directly using only a single point cloud as input, without requiring a pre-built map. Compared to RGB…

Timestamp prediction aims to determine when an image was captured using only visual information, supporting applications such as metadata correction, retrieval, and digital forensics. In outdoor scenarios, hourly estimates rely on cues like…

Most existing approaches for visual localization either need a detailed 3D model of the environment or, in the case of learning-based methods, must be retrained for each new scene. This can either be very expensive or simply impossible for…

Compared to LiDAR-based localization methods, which provide high accuracy but rely on expensive sensors, visual localization approaches only require a camera and thus are more cost-effective while their accuracy and reliability typically is…

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 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…

Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…

Successful visual navigation depends upon capturing images that contain sufficient useful information. In this letter, we explore a data-driven approach to account for environmental lighting changes, improving the quality of images for use…

Thermal cameras capture environmental data through heat emission, a fundamentally different mechanism compared to visible light cameras, which rely on pinhole imaging. As a result, traditional visual relocalization methods designed for…

In this work, we present LaserFlow, an efficient method for 3D object detection and motion forecasting from LiDAR. Unlike the previous work, our approach utilizes the native range view representation of the LiDAR, which enables our method…

Rapid assessment after a natural disaster is key for prioritizing emergency resources. In the case of landslides, rapid assessment involves determining the extent of the area affected and measuring the size and location of individual…

Learning-based visual localization methods that use scene coordinate regression (SCR) offer the advantage of smaller map sizes. However, on datasets with complex illumination changes or image-level ambiguities, it remains a less robust…

Existing localization methods that intensively leverage the environment-specific received signal strength (RSS) or channel state information (CSI) of wireless signals are rather accurate in certain environments. However, these methods,…

LiDAR scene flow is the task of estimating per-point 3D motion between consecutive point clouds. Recent methods achieve centimeter-level accuracy on popular autonomous vehicle (AV) datasets, but are typically only trained and evaluated on a…

Combining lidar in camera-based simultaneous localization and mapping (SLAM) is an effective method in improving overall accuracy, especially at a large scale outdoor scenario. Recent development of low-cost lidars (e.g. Livox lidar) enable…

In this paper, we propose an efficient algorithm for robust place recognition and loop detection using camera information only. Our pipeline purely relies on spatial localization and semantic information of road markings. The creation of…