相关论文: UnLoc: Leveraging Depth Uncertainties for Floorpla…

We present UniPlane, a novel method that unifies plane detection and reconstruction from posed monocular videos. Unlike existing methods that detect planes from local observations and associate them across the video for the final…

Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…

Relocalization is a fundamental task in the field of robotics and computer vision. There is considerable work in the field of deep camera relocalization, which directly estimates poses from raw images. However, learning-based methods have…

Indoor relocalization is vital for both robotic tasks like autonomous exploration and civil applications such as navigation with a cell phone in a shopping mall. Some previous approaches adopt geometrical information such as key-point…

Reliable localization is critical for robot navigation in complex indoor environments. In this paper, we propose an uncertainty-aware localization method that enhances the reliability of localization outputs without modifying the prediction…

Machine learning techniques, namely convolutional neural networks (CNN) and regression forests, have recently shown great promise in performing 6-DoF localization of monocular images. However, in most cases image-sequences, rather only…

We tackle the fundamentally ill-posed problem of 3D human localization from monocular RGB images. Driven by the limitation of neural networks outputting point estimates, we address the ambiguity in the task by predicting confidence…

Promising solutions exist today that can accurately track mobile entities indoor using visual inertial odometry in favorable visual conditions, or by leveraging fine-grained ranging (RF, ultrasonic, IR, etc.) to reference anchors. However,…

We present a multimodal camera relocalization framework that captures ambiguities and uncertainties with continuous mixture models defined on the manifold of camera poses. In highly ambiguous environments, which can easily arise due to…

Floorplans provide a compact representation of the building's structure, revealing not only layout information but also detailed semantics such as the locations of windows and doors. However, contemporary floorplan localization techniques…

Deep unrolling is an emerging deep learning-based image reconstruction methodology that bridges the gap between model-based and purely deep learning-based image reconstruction methods. Although deep unrolling methods achieve…

Visual place recognition techniques based on deep learning, which have imposed themselves as the state-of-the-art in recent years, do not generalize well to environments visually different from the training set. Thus, to achieve top…

Visual Floorplan Localization (FLoc) struggles with severe structural aliasing caused by repetitive minimalist layouts. This occurs because physically distant poses share highly similar visual-geometric features, which degrades spatial…

Autonomous robotic tasks require actively perceiving the environment to achieve application-specific goals. In this paper, we address the problem of positioning an RGB camera to collect the most informative images to represent an unknown…

Scene coordinate regression achieves impressive results in outdoor LiDAR localization but requires days of training. Since training needs to be repeated for each new scene, long training times make these methods impractical for…

Machine learning has been considered a promising approach for indoor localization. Nevertheless, the sample efficiency, scalability, and generalization ability remain open issues of implementing learning-based algorithms in practical…

Global localization is a critical problem in autonomous navigation, enabling precise positioning without reliance on GPS. Modern global localization techniques often depend on dense LiDAR maps, which, while precise, require extensive…

Navigation signs and maps, such as floor plans and street maps, are widely available and serve as ubiquitous aids for way-finding in human environments. Yet, they are rarely used by robot systems. This paper presents SignLoc, a global…

Accurate ocean modeling and coastal hazard prediction depend on high-resolution bathymetric data; yet, current worldwide datasets are too coarse for exact numerical simulations. While recent deep learning advances have improved earth…

Recent advancements in energy-efficient hardware technology is driving the exponential growth we are experiencing in the Internet of Things (IoT) space, with more pervasive computations being performed near to data generation sources. A…