相关论文: LunarLoc: Segment-Based Global Localization on the…
Visual Localization is an essential component in autonomous navigation. Existing approaches are either based on the visual structure from SLAM/SfM or the geometric structure from dense mapping. To take the advantages of both, in this work,…
Current techniques in Visual Simultaneous Localization and Mapping (VSLAM) estimate camera displacement by comparing image features of consecutive scenes. These algorithms depend on scene continuity, hence requires frequent camera inputs.…
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…
This paper presents a Visual Inertial Odometry Landmark-based Simultaneous Localisation and Mapping algorithm based on a distributed block coordinate nonlinear Moving Horizon Estimation scheme. The main advantage of the proposed method is…
In this paper, we present SROM, a novel real-time Simultaneous Localization and Mapping (SLAM) system for autonomous vehicles. The keynote of the paper showcases SROM's ability to maintain localization at low sampling rates or at high…
Simultaneous localization and mapping (SLAM) using automotive radar sensors can provide enhanced sensing capabilities for autonomous systems. In SLAM applications, with a greater requirement for the environment map, information on the…
Positioning is a prominent field of study, notably focusing on Visual Inertial Odometry (VIO) and Simultaneous Localization and Mapping (SLAM) methods. Despite their advancements, these methods often encounter dead-reckoning errors that…
Map-based LiDAR localization, while widely used in autonomous systems, faces significant challenges in degraded environments due to lacking distinct geometric features. This paper introduces SuperLoc, a robust LiDAR localization package…
It is critical for probes landing on foreign planetary bodies to be able to robustly identify and avoid hazards - as, for example, steep cliffs or deep craters can pose significant risks to a probe's landing and operational success. Recent…
Path planning algorithms for unmanned aerial or ground vehicles, in many surveillance applications, rely on Global Positioning System (GPS) information for localization. However, disruption of GPS signals, by intention or otherwise, can…
Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…
The past decade has witnessed a growing interest in lunar exploration missions. The autonomy of lunar surface and in-orbit missions is, however, dependent on accurate and instantaneous navigation services. These services can not be provided…
Accurate localization of mobile terminals is a pivotal aspect of integrated sensing and communication systems. Traditional fingerprint-based localization methods, which infer coordinates from channel information within pre-set rectangular…
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…
A main challenge in target localization arises from the lack of reliable distance measures. This issue is especially pronounced in indoor settings due to the presence of walls, floors, furniture, and other dynamically changing conditions…
A key component of graph-based SLAM systems is the ability to detect loop closures in a trajectory to reduce the drift accumulated over time from the odometry. Most LiDAR-based methods achieve this goal by using only the geometric…
We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…
In unstructured environments the best path is not always the shortest, but needs to consider various objectives like energy efficiency, risk of failure or scientific outcome. This paper proposes a global planner, based on the A* algorithm,…
The rapid growth of cislunar activities, including lunar landings, the Lunar Gateway, and in-space refueling stations, requires advances in cost-efficient trajectory design and reliable integration of navigation and remote sensing.…
For long-duration operations in GPS-denied environments, accurate and repeatable waypoint navigation is an essential capability. While simultaneous localization and mapping (SLAM) works well for single-session operations, repeated,…