8 accepted papers
A variety of end-user devices involving keypoint-based mapping systems are about to hit the market e.g. as part of smartphones, cars, robotic platforms, or virtual and augmented reality applications. Thus, the generated map data requires automated evaluation procedures that do not require experience…
Place recognition in 3D data is a challenging task that has been commonly approached by adapting image-based solutions. Methods based on local features suffer from ambiguity and from robustness to environment changes while methods based on global features are viewpoint dependent. We propose SegMatch…
We propose a novel scoring concept for visual place recognition based on nearest neighbor descriptor voting and demonstrate how the algorithm naturally emerges from the problem formulation. Based on the observation that the number of votes for matching places can be evaluated using a binomial distri…
In this paper, we present an online landmark selection method for distributed long-term visual localization systems in bandwidth-constrained environments. Sharing a common map for online localization provides a fleet of autonomous vehicles with the possibility to maintain and access a consistent map…
Precisely estimating the pose of an agent in a global reference frame is a crucial goal that unlocks a multitude of robotic applications, including autonomous navigation and collaboration. In order to achieve this, current state-of-the-art localization approaches collect data provided by one or more…
Place recognition is a core component in simultaneous localization and mapping (SLAM), limiting positional drift over space and time to unlock precise robot navigation. Determining which previously visited places belong together continues to be a highly active area of research as robotic application
A novel method for visual place recognition is introduced and evaluated, demonstrating robustness to perceptual aliasing and observation noise. This is achieved by increasing discrimination through a more structured representation of visual observations. Estimation of observation likelihoods are bas…
With the growing demand for deployment of robots in real scenarios, robustness in the perception capabilities for navigation lies at the forefront of research interest, as this forms the backbone of robotic autonomy. Existing place recognition approaches traditionally follow the feature-based bag-of…