7 accepted papers
Accurate LiDAR-camera extrinsic calibration is a precondition for many multi-sensor systems in mobile robots. Most calibration methods rely on laborious manual operations and calibration targets. While working online, the calibration methods should be able to extract information from the environment…
Global point cloud registration is an essential module for localization, of which the main difficulty exists in estimating the rotation globally without initial value. With the aid of gravity alignment, the degree of freedom in point cloud registration could be reduced to 4DoF, in which only the hea…
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 which leverages dense correspondence and sparse depth for planar…
When robots move autonomously for long-term, varied appearance such as the transition from day to night and seasonal variation brings challenges to visual place recognition. Defining an appearance condition (e.g. a season, a kind of weather) as a domain, we consider that the desired representation f…
Visual localization has attracted considerable attention due to its low-cost and stable sensor, which is desired in many applications, such as autonomous driving, inspection robots and unmanned aerial vehicles. However, current visual localization methods still struggle with environmental changes ac…
Visual localization is one of the primary capabilities for mobile robots. Long-term visual localization in real time is particularly challenging, in which the robot is required to efficiently localize itself using visual data where appearance may change significantly over time. In this paper, we pro…
Long-term visual localization in outdoor environment is a challenging problem, especially faced with the cross-seasonal, bi-directional tasks and changing environment. In this paper we propose a novel visual inertial localization framework that localizes against the LiDAR-built map. Based on the geo…