相关论文: SceneAligner: 3D-Grounded Floorplan Localization i…

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…

This work presents a method that is able to predict the geolocation of a street-view photo taken in the wild within a state-sized search region by matching against a database of aerial reference imagery. We partition the search region into…

We address the task of converting a floorplan and a set of associated photos of a residence into a textured 3D mesh model, a task which we call Plan2Scene. Our system 1) lifts a floorplan image to a 3D mesh model; 2) synthesizes surface…

In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency…

Given only a few glimpses of an environment, how much can we infer about its entire floorplan? Existing methods can map only what is visible or immediately apparent from context, and thus require substantial movements through a space to…

The field of visual localization has been researched for several decades and has meanwhile found many practical applications. Despite the strong progress in this field, there are still challenging situations in which established methods…

Indoor localization in GPS-denied environments is crucial for applications like emergency response and assistive navigation. Vision-based methods such as PALMS enable infrastructure-free localization using only a floor plan and a stationary…

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 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…

3D visual grounding aims to localize the unique target described by natural languages in 3D scenes. The significant gap between 3D and language modalities makes it a notable challenge to distinguish multiple similar objects through the…

We present a novel framework for floor plan-based, full six degree-of-freedom LiDAR localization. Our approach relies on robust ceiling and ground plane detection, which solves part of the pose and supports the segmentation of vertical…

This paper presents a novel system designed for 3D mapping and visual relocalization using 3D Gaussian Splatting. Our proposed method uses LiDAR and camera data to create accurate and visually plausible representations of the environment.…

We study the image-based geolocalization problem, aiming to localize ground-view query images on cartographic maps. Current methods often utilize cross-view localization techniques to match ground-view query images with 2D maps. However,…

Robots in the construction industry can reduce costs through constant monitoring of the work progress, using high precision data capturing. Accurate data capturing requires precise localization of the mobile robot within the environment. In…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

Connecting current observations with prior experiences helps robots adapt and plan in new, unseen 3D environments. Recently, 3D scene analogies have been proposed to connect two 3D scenes, which are smooth maps that align scene regions with…

Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…

We present an approach for the planar surface reconstruction of a scene from images with limited overlap. This reconstruction task is challenging since it requires jointly reasoning about single image 3D reconstruction, correspondence…

We propose 3D Congealing, a novel problem of 3D-aware alignment for 2D images capturing semantically similar objects. Given a collection of unlabeled Internet images, our goal is to associate the shared semantic parts from the inputs and…

3D visual grounding (3DVG) involves localizing entities in a 3D scene referred to by natural language text. Such models are useful for embodied AI and scene retrieval applications, which involve searching for objects or patterns using…