4 accepted papers
Recently there has been growing interest in the use of aerial and satellite map data for autonomous vehicles, primarily due to its potential for significant cost reduction and enhanced scalability. Despite the advantages, aerial data also comes with challenges such as a sensor-modality gap and a vie
We introduce a novel pose graph-based localization technique for autonomous driving that incorporates both sparse point features as well as lane markings on the road. Unlike many commonly used filter methods, our graph-based localization takes a much larger history of the trajectory into account. In…
We provide a novel incremental data association method to complement our previous work on acoustic structure from motion (ASFM), which recovers 3D scene structure from multiple 2D sonar images, while at the same time localizing the sonar. Given point features extracted from multiple overlapping sona…
We present a novel approach, entitled acoustic structure from motion (ASFM), for recovering 3D scene structure from multiple 2D sonar images, while at the same time localizing the sonar. Imaging sonar or forward looking sonar (FLS) is commonly used for autonomous underwater vehicle (AUV) navigation.…