相关论文: Coarse-to-Fine Monocular Re-Localization in OpenSt…
Robust visual localization for urban vehicles remains challenging and unsolved. The limitation of computation efficiency and memory size has made it harder for large-scale applications. Since semantic information serves as a stable and…
Accurate and robust localization remains a significant challenge for autonomous vehicles. The cost of sensors and limitations in local computational efficiency make it difficult to scale to large commercial applications. Traditional…
Accurate localization is fundamental to a variety of applications, such as navigation, robotics, autonomous driving, and Augmented Reality (AR). Different from incremental localization, global localization has no drift caused by error…
Accurate and reliable localization is a fundamental requirement for autonomous vehicles to use map information in higher-level tasks such as navigation or planning. In this paper, we present a novel approach to vehicle localization in dense…
OpenStreetMap (OSM), a rich and versatile source of volunteered geographic information (VGI), facilitates human self-localization and scene understanding by integrating nearby visual observations with vectorized map data. However, the…
High precision localization is a crucial requirement for the autonomous driving system. Traditional positioning methods have some limitations in providing stable and accurate vehicle poses, especially in an urban environment. Herein, we…
OpenStreetMap (OSM) is one of the richest openly available sources of volunteered geographic information. Although OSM includes various geographical entities, their descriptions are highly heterogeneous, incomplete, and do not follow any…
The monocular visual-inertial system (VINS), which consists one camera and one low-cost inertial measurement unit (IMU), is a popular approach to achieve accurate 6-DOF state estimation. However, such locally accurate visual-inertial…
The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…
LiDAR-to-OpenStreetMap (OSM) localization has gained increasing attention, as OSM provides lightweight global priors such as building footprints. These priors enhance global consistency for robot navigation, but OSM is often incomplete or…
Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…
Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…
Open-Vocabulary Semantic Segmentation (OVSS) assigns pixel-level labels from an open set of text-defined categories, demanding reliable generalization to unseen classes at inference. Although modern vision-language models (VLMs) support…
Existing simultaneous localization and mapping (SLAM) algorithms are not robust in challenging low-texture environments because there are only few salient features. The resulting sparse or semi-dense map also conveys little information for…
Monocular visual localization plays a pivotal role in advanced driver assistance systems and autonomous driving by estimating a vehicle's ego-motion from a single pinhole camera. Nevertheless, conventional monocular visual odometry…
In this paper, we present a monocular Simultaneous Localization and Mapping (SLAM) algorithm using high-level object and plane landmarks. The built map is denser, more compact and semantic meaningful compared to feature point based SLAM. We…
Vision-based localization in a prior map is of crucial importance for autonomous vehicles. Given a query image, the goal is to estimate the camera pose corresponding to the prior map, and the key is the registration problem of camera images…
Open-Vocabulary Segmentation (OVS) aims to segment image regions beyond predefined category sets by leveraging semantic descriptions. While CLIP based approaches excel in semantic generalization, they frequently lack the fine-grained…
Accurate visual re-localization is very critical to many artificial intelligence applications, such as augmented reality, virtual reality, robotics and autonomous driving. To accomplish this task, we propose an integrated visual…
Robust and accurate visual localization is a fundamental capability for numerous applications, such as autonomous driving, mobile robotics, or augmented reality. It remains, however, a challenging task, particularly for large-scale…