相关论文: Road Similarity-Based BEV-Satellite Image Matching…

Predicting the safety of urban roads for navigation via global navigation satellite systems (GNSS) signals is considered. To ensure safe driving of automated vehicles, the vehicle must plan its trajectory to avoid navigating on unsafe roads…

Small-sized unmanned aerial vehicles (UAVs) have been widely investigated for use in a variety of applications such as remote sensing and aerial surveying. Direct three-dimensional (3D) mapping using a small-sized UAV equipped with a laser…

The deployment of roadside LiDAR sensors plays a crucial role in the development of Cooperative Intelligent Transport Systems (C-ITS). However, the high cost of LiDAR sensors necessitates efficient placement strategies to maximize detection…

Existing approaches to drone visual geo-localization predominantly adopt the image-based setting, where a single drone-view snapshot is matched with images from other platforms. Such task formulation, however, underutilizes the inherent…

GPS-based vehicle localization and tracking suffers from unstable positional information commonly experienced in tunnel segments and in dense urban areas. Also, both Visual Odometry (VO) and Visual Inertial Odometry (VIO) are susceptible to…

Visual localization is an essential component of intelligent transportation systems, enabling broad applications that require understanding one's self location when other sensors are not available. It is mostly tackled by image retrieval…

Relative vehicle positioning methods can contribute to safer and more efficient autonomous driving by enabling collision avoidance and platooning applications. For full automation, these applications require cm-level positioning accuracy…

Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…

The problem of localization on a geo-referenced satellite map given a query ground view image is useful yet remains challenging due to the drastic change in viewpoint. To this end, in this paper we work on the extension of our earlier work…

Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple…

In this paper, we present a high-performing solution to the UAVM 2025 Challenge, which focuses on matching narrow FOV street-level images to corresponding satellite imagery using the University-1652 dataset. As panoramic Cross-View…

This paper proposes an ultra-wideband (UWB) aided localization and mapping system that leverages on inertial sensor and depth camera. Inspired by the fact that visual odometry (VO) system, regardless of its accuracy in the short term, still…

A novel near-field integrated sensing and communications framework for secure unmanned aerial vehicle (UAV) networks with high time efficiency is proposed. A ground base station (GBS) with large aperture size communicates with one…

LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…

This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…

Localization is one of the core parts of modern robotics. Classic localization methods typically follow the retrieve-then-register paradigm, achieving remarkable success. Recently, the emergence of end-to-end localization approaches has…

Onboard sensors, such as cameras and thermal sensors, have emerged as effective alternatives to Global Positioning System (GPS) for geo-localization in Unmanned Aerial Vehicle (UAV) navigation. Since GPS can suffer from signal loss and…

Localization of low-cost Unmanned Aerial Vehicles (UAVs) often relies on Global Navigation Satellite Systems (GNSS). GNSS are susceptible to both natural disruptions to radio signal and intentional jamming and spoofing by an adversary. A…

Autonomous vehicle perception systems have traditionally relied on costly LiDAR sensors to generate precise environmental representations. In this paper, we propose a camera-only perception framework that produces Bird's Eye View (BEV) maps…

Connected and cooperative driving requires precise calibration of the roadside infrastructure for having a reliable perception system. To solve this requirement in an automated manner, we present a robust extrinsic calibration method for…