A Survey on Monocular Re-Localization: From the Perspective of Scene Map Representation
Monocular Re-Localization (MRL) is an essential component in autonomous applications,
estimating 6 degree-of-freedom ego poses wrt the scene map using monocular images …
estimating 6 degree-of-freedom ego poses wrt the scene map using monocular images …
Accurate and robust visual localization system in large-scale appearance-changing environments
Localization in large-scale environments with robust performance is a persistent challenge
for mobile robots. This article proposes a novel system to achieve accurate and robust visual …
for mobile robots. This article proposes a novel system to achieve accurate and robust visual …
Gmmloc: Structure consistent visual localization with gaussian mixture models
Incorporating prior structure information into the visual state estimation could generally
improve the localization performance. In this letter, we aim to address the paradox between …
improve the localization performance. In this letter, we aim to address the paradox between …
PALoc: Advancing SLAM Benchmarking With Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation
Accurately generating ground truth (GT) trajectories is essential for simultaneous localization
and mapping (SLAM) evaluation, particularly under varying environmental conditions. This …
and mapping (SLAM) evaluation, particularly under varying environmental conditions. This …
Visual-marker based localization for flat-variation scene
Localization, an indispensable component in robotics and automation, encounters
difficulties arising from appearance variations, resulting in inaccurate data associations …
difficulties arising from appearance variations, resulting in inaccurate data associations …
Cross-modal monocular localization in prior lidar maps utilizing semantic consistency
C Zhang, H Zhao, C Wang, X Tang… - 2023 IEEE International …, 2023 - ieeexplore.ieee.org
Visual localization for mobile robots and intelligent vehicles in prior LiDAR maps can
achieve high accuracy and low cost. However, algorithms for finding the cross-modal …
achieve high accuracy and low cost. However, algorithms for finding the cross-modal …
Robust tightly-coupled visual-inertial odometry with pre-built maps in high latency situations
In this paper, we present a novel monocular visual-inertial odometry system with pre-built
maps deployed on the remote server, which can robustly run in real-time on a mobile device …
maps deployed on the remote server, which can robustly run in real-time on a mobile device …
Visual localization for autonomous driving using pre-built point cloud maps
K Yabuuchi, DR Wong, T Ishita… - 2021 IEEE Intelligent …, 2021 - ieeexplore.ieee.org
This paper presents a vision-based metric localization method using pre-built point cloud
maps. Matching the 3D structures reconstructed by visual SLAM to the point cloud map …
maps. Matching the 3D structures reconstructed by visual SLAM to the point cloud map …
CAOM: Change-aware online 3D mapping with heterogeneous multi-beam and push-broom LiDAR point clouds
Abstract A High-Definition (HD) map is an essential component not only for autonomous
vehicles but also for surveyors in favor of city management. Moreover, the HD map must be …
vehicles but also for surveyors in favor of city management. Moreover, the HD map must be …
Semloc: Accurate and robust visual localization with semantic and structural constraints from prior maps
Semantic information and geometrical structures of a prior map can be leveraged in visual
localization to bound drift errors and improve accuracy. In this paper, we propose SemLoc, a …
localization to bound drift errors and improve accuracy. In this paper, we propose SemLoc, a …