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Showing 1 to 14 of 14 for “"Visual Localization"”.
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Toward lifelong visual localization and mapping
… use its perception sensors to do simultaneous localization and mapping (SLAM) is beneficial for a fully autonomous system. Extending the time horizon of operations poses problems to current SLAM algorithms, both in terms of robustness and temporal scalability. To address this problem we propose …
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Toward lifelong visual localization and mapping
… use its perception sensors to do simultaneous localization and mapping (SLAM) is beneficial for a fully autonomous system. Extending the time horizon of operations poses problems to current SLAM algorithms, both in terms of robustness and temporal scalability. To address this problem we propose …
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A Koopman-Based Reduced-Order State Observer for Visual Localization of Robots
… Koopman lifting linearization is developed for localization of a robot guided by a vision system. The Koopman operator is a powerful method for representing nonlinear robot dynamics as a linear model in a lifted space. Koopman faces two main challenges with robot localization. One is that the …
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VISUAL LOCALIZATION ACCURACY DETERMINES THE BIAS OF AUDITORY TARGETS IN AZIMUTH AND DEPTH
Visual bias is a psychophysical phenomenon where an accurately localized signal, such as a light, will bias a spatially discrepant signal that is localized with less accuracy, such as a sound, when the two signals are perceived as unified. Many previous studies have demonstrated visual bias in …
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Place Recognition Anywhere Model for Efficient Large-scale Localization
Visual localization aims to estimate the orientation and position of a given query image in a known environment. It is a fundamental task in computer vision and also a key technique of various applications including autonomous driving, robotics, and virtual/augmented reality (AR/VR). Previous …
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Scalable Full Posterior Inference for Uncertainty-Aware Robot Perception
… made in perception problems like simultaneous localization and mapping (SLAM) and visual localization, the quest for self-diagnosable, robust systems capable of operating in large, complex environments continues. This thesis aims to improve self-diagnosis and robustness in robot perception by …
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State estimation for autonomous mobile systems: Multi-IMU self-calibration and localization using 3D Gaussian splatting maps
… coordinate frame, a task referred to as localization. These two tasks share a common foundation, as both are fundamentally pose estimation problems typically formulated and solved through nonlinear optimization. This dissertation tackles two fundamental and complementary challenges in …
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Self-supervised Learning of Monocular Depth from Video
… depths over a video, which limits their uses in visual localization and mapping. To this end, I propose a geometry consistency loss that penalizes the multi-view depth misalignment in training, which enables scale-consistent depth estimation at inference time; (ii) Previous methods often diverge …
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Development of a Data Collection System for Tightly Integrated GNSS, IMU, Radar, and LiDAR Navigation
… focus on validating different variations of visual localization algorithms like SLAM, place recognition, object detection and visual odometry that help navigate in sky-obstructed and GNSS-denied environments. However, GNSS still plays a vital role in providing the most assured navigation …
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Monocular Visual Inertial Odometry using Learning-based Methods
… using a single sensor or multiple sensors. Visual Inertial Odometry (VIO) uses images and inertial measurements to estimate the motion and is considered a key technology for GPS-denied localization in the real world and also virtual reality and augmented reality.</p> <p>This study develops …
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Visual Place Recognition under Severe Viewpoint and Appearance Changes
… advancements in long-term robotic vision. Visual localization is the constituent of this active research domain; an ability of an object to correctly localize itself while mapping the environment simultaneously, technically termed as Simultaneous Localization and Mapping (SLAM). Visual …
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Visual Terrain Relative Navigation: Pose Estimation, Neural Fields, and Verification
Visual Terrain Relative Navigation (TRN) is a method for GPS-denied absolute pose estimation using a prior terrain map and onboard camera. TRN is commonly desired for applications such as planetary landings, unmanned aerial vehicles (UAVs), and airdrops, where GPS is either unavailable or cannot be …
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Deep Reinforcement Learning for Robotic Tasks: Manipulation and Sensor Odometry
… on the development of sensors to improve the localization accuracy of these vehicles. Recent sensor odometry research suggests that Lidar Monocular Visual Odometry (LIMO) can be beneficial for determining odometry. However, the LIMO algorithm has a considerable number of errors when compared …
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Patronus: multi-modal sensing, analytics, and localization assistance for heterogeneous working environments
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-20 without embargo terms