相关论文: LunarLoc: Segment-Based Global Localization on the…

Robust place recognition is essential for reliable localization in robotics, particularly in complex environments with frequent indoor-outdoor transitions. However, existing LiDAR-based datasets often focus on outdoor scenarios and lack…

Recently, remarkable progress has been made in weakly supervised object localization (WSOL) to promote object localization maps. The common practice of evaluating these maps applies an indirect and coarse way, i.e., obtaining tight bounding…

We propose CisLunarSense, an opportunistic integrated sensing and communication (ISAC) framework that exploits the Lunar Gateway's Ka-band relay for monostatic debris detection, addressing the absence of cislunar space situational awareness…

A key functional block of visual navigation system for intelligent autonomous vehicles is Loop Closure detection and subsequent relocalisation. State-of-the-Art methods still approach the problem as uni-directional along the direction of…

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…

The Gateway will represent a primary space system useful for the Artemis program, Earth-Moon transportation, and deep space exploration. It is expected to serve as a staging location on the way to the lunar surface. This study focuses on…

Robust and accurate localization is critical for autonomous driving. Traditional GNSS-based localization methods suffer from signal occlusion and multipath effects in urban environments. Meanwhile, methods relying on high-definition (HD)…

Visual localization under large changes in scale is an important capability in many robotic mapping applications, such as localizing at low altitudes in maps built at high altitudes, or performing loop closure over long distances. Existing…

Precisely estimating a robot's pose in a prior, global map is a fundamental capability for mobile robotics, e.g. autonomous driving or exploration in disaster zones. This task, however, remains challenging in unstructured, dynamic…

Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…

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…

Service robots should be able to operate autonomously in dynamic and daily changing environments over an extended period of time. While Simultaneous Localization And Mapping (SLAM) is one of the most fundamental problems for robotic…

Automotive self-localization is an essential task for any automated driving function. This means that the vehicle has to reliably know its position and orientation with an accuracy of a few centimeters and degrees, respectively. This paper…

For future large scale robotic moon missions, the availability of infrastructure-less, cheap and low power real-time locating systems (RTLSs) is critical. Traditional RTLS face significant trade-offs between power consumption and…

Localization in a battlefield environment is increasingly challenging as GPS connectivity is often denied or unreliable, and physical deployment of anchor nodes across wireless networks for localization can be difficult in hostile…

Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…

Mobile AR applications benefit from fast initialization to display world-locked effects instantly. However, standard visual odometry or SLAM algorithms require motion parallax to initialize (see Figure 1) and, therefore, suffer from delayed…

We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…

We present a method for image-guided exploration for mobile robotic systems. Our approach extends ergodic exploration methods, a recent exploration approach that prioritizes complete coverage of a space, with the use of a learned image…

In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired…