相关论文: Offline-Online Hierarchical 3D Global Relocalizati…

Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…

Simultaneous localization and mapping (SLAM) has been a hot research field in the past years. Against the backdrop of more affordable 3D LiDAR sensors, research on 3D LiDAR SLAM is becoming increasingly popular. Furthermore, the…

Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…

LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…

Mobile robots on construction sites require accurate pose estimation to perform autonomous surveying and inspection missions. Localization in construction sites is a particularly challenging problem due to the presence of repetitive…

Robust and accurate localization is a basic requirement for mobile autonomous systems. Pole-like objects, such as traffic signs, poles, and lamps are frequently used landmarks for localization in urban environments due to their local…

Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…

Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…

The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…

Globally localizing in a given map is a crucial ability for robots to perform a wide range of autonomous navigation tasks. This paper presents OneShot - a global localization algorithm that uses only a single 3D LiDAR scan at a time, while…

Visual relocalization has been a widely discussed problem in 3D vision: given a pre-constructed 3D visual map, the 6 DoF (Degrees-of-Freedom) pose of a query image is estimated. Relocalization in large-scale indoor environments enables…

Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…

Global place recognition and 3D relocalization are one of the most important components in the loop closing detection for 3D LiDAR Simultaneous Localization and Mapping (SLAM). In order to find the accurate global 6-DoF transform by feature…

2D object proposals, quickly detected regions in an image that likely contain an object of interest, are an effective approach for improving the computational efficiency and accuracy of object detection in color images. In this work, we…

Current global re-localization algorithms are built on top of localization and mapping methods andheavily rely on scan matching and direct point cloud feature extraction and therefore are vulnerable infeatureless demanding environments like…

The success of re-localisation has crucial implications for the practical deployment of robots operating within a prior map or relative to one another in real-world scenarios. Using single-modality, place recognition and localisation can be…

Retrieval-based place recognition is an efficient and effective solution for re-localization within a pre-built map, or global data association for Simultaneous Localization and Mapping (SLAM). The accuracy of such an approach is heavily…

Optimization-based 3D object tracking is known to be precise and fast, but sensitive to large inter-frame displacements. In this paper we propose a fast and effective non-local 3D tracking method. Based on the observation that erroneous…

Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…

Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. Over the last two decades, LiDAR scanners have become the standard sensor for robot…