相关论文: V2VLoc: Robust GNSS-Free Collaborative Perception …

Visual localization has traditionally been formulated as a pair-wise pose regression problem. Existing approaches mainly estimate relative poses between two images and employ a late-fusion strategy to obtain absolute pose estimates.…

Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…

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…

Localization is an indispensable component of a robot's autonomy stack that enables it to determine where it is in the environment, essentially making it a precursor for any action execution or planning. Although convolutional neural…

LiDAR relocalization aims to estimate the global 6-DoF pose of a sensor in the environment. However, existing regression-based approaches are prone to dynamic or ambiguous scenarios, as they either solely rely on single-frame inference or…

We propose a novel method for aerial visual localization over low Level-of-Detail (LoD) city models. Previous wireframe-alignment-based method LoD-Loc has shown promising localization results leveraging LoD models. However, LoD-Loc mainly…

We present LoD-Loc v3, a novel method for generalized aerial visual localization in dense urban environments. While prior work LoD-Loc v2 achieves localization through semantic building silhouette alignment with low-detail city models, it…

This letter presents LiteLoc, a novel and efficient localizer built on 3D Gaussian Splatting (3DGS). The previous state-of-the-art (SoTA) sparse-to-dense localizer, STDLoc, has shown remarkable localization capability but suffers from…

Localization in already mapped environments is a critical component in many robotics and automotive applications, where previously acquired information can be exploited along with sensor fusion to provide robust and accurate localization…

Accurate long-term localization using onboard sensors is crucial for robots operating in Global Navigation Satellite System (GNSS)-denied environments. While complementary sensors mitigate individual degradations, carrying all the available…

In this letter, we introduce GroundLoc, a LiDAR-only localization pipeline designed to localize a mobile robot in large-scale outdoor environments using prior maps. GroundLoc employs a Bird's-Eye View (BEV) image projection focusing on the…

Semantic understanding and localization are fundamental enablers of robot autonomy that have for the most part been tackled as disjoint problems. While deep learning has enabled recent breakthroughs across a wide spectrum of scene…

Visual relocalization, which estimates the 6-degree-of-freedom (6-DoF) camera pose from query images, is fundamental to remote sensing and UAV applications. Existing methods face inherent trade-offs: image-based retrieval and pose…

Reconstructing large-scale colored point clouds is an important task in robotics, supporting perception, navigation, and scene understanding. Despite advances in LiDAR inertial visual odometry (LIVO), its performance remains highly…

Vehicle-to-Infrastructure (V2I) collaborative perception leverages data collected by infrastructure's sensors to enhance vehicle perceptual capabilities. LiDAR, as a commonly used sensor in cooperative perception, is widely equipped in…

The availability of city-scale Lidar maps enables the potential of city-scale place recognition using mobile cameras. However, the city-scale Lidar maps generally need to be compressed for storage efficiency, which increases the difficulty…

Visual-LiDAR odometry is a critical component for autonomous system localization, yet achieving high accuracy and strong robustness remains a challenge. Traditional approaches commonly struggle with sensor misalignment, fail to fully…

In air-ground collaboration scenarios without GPS and prior maps, the relative positioning of drones and unmanned ground vehicles (UGVs) has always been a challenge. For a drone equipped with monocular camera and an UGV equipped with LiDAR…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…

In V2X collaborative perception, the domain gaps between heterogeneous nodes pose a significant challenge for effective information fusion. Pose errors arising from latency and GPS localization noise further exacerbate the issue by leading…