Concept

Simultaneous localization and mapping

Related publications (404)

PlaceNet: A multi-scale semantic-aware model for visual loop closure detection

Loop closure detection helps simultaneous localization and mapping systems reduce map and state uncertainty via recognizing previously visited places along the path of a mobile robot. However, visual loop closure detection is susceptible to scenes with dyn ...

PERGAMON-ELSEVIER SCIENCE LTD2022

CrossLoc: Scalable Aerial Localization Assisted by Multimodal Synthetic Data

Iordan Doytchinov, Qi Yan, Shanci Li, Jianhao Zheng

We present a visual localization system that learns to estimate camera poses in the real world with the help of synthetic data. Despite significant progress in recent years, most learning-based approaches to visual localization target at a single domain an ...

IEEE COMPUTER SOC2022

Digital twins for post-earthquake damage assessment of free-standing buildings including damage information

Katrin Beyer, Radhakrishna Achanta, Bryan German Pantoja Rosero, Amir Rezaie

We present a pipeline for the automatic generation of digital twins of free-standing buildings for damage assessment. Our method takes multiple view images of the target building as input and processes them to produce a 3D model in levels of detail (LOD) f ...

2022

Temporal Representation Learning on Monocular Videos for 3D Human Pose Estimation

Pascal Fua, Mathieu Salzmann, Helge Jochen Rhodin, Victor Constantin, Sina Honari

In this paper we propose an unsupervised feature extraction method to capture temporal information on monocular videos, where we detect and encode subject of interest in each frame and leverage contrastive self-supervised (CSS) learning to extract rich lat ...

2022

Swarms of flying robots in unknown environments

Enrica Soria

An optimal planning algorithm enables swarms of flying robots to explore unknown environments autonomously and safely. ...

AMER ASSOC ADVANCEMENT SCIENCE2022

Radatron: Accurate Detection Using Multi-resolution Cascaded MIMO Radar

Haitham Al Hassanieh, Junfeng Guan, Seyedsohrab Madani, Saurabh Gupta, Waleed Ahmed

Millimeter wave (mmWave) radars are becoming a more popular sensing modality in self-driving cars due to their favorable characteristics in adverse weather. Yet, they currently lack sufficient spatial resolution for semantic scene understanding. In this pa ...

SPRINGER INTERNATIONAL PUBLISHING AG2022

Hidden Markov Modeling Over Graphs

Ali H. Sayed, Mert Kayaalp, Stefan Vlaski, Virginia Bordignon

This work proposes a multi-agent filtering algorithm over graphs for finite-state hidden Markov models (HMMs), which can be used for sequential state estimation or for tracking opinion formation over dynamic social networks. We show that the difference fro ...

IEEE2022

Coordinating Active Distribution Networks with Multi-Microgrids: An ADMM-based Decentralized Adjustable Robust Operation Model

Yuning Jiang

This paper proposes a decentralized adjustable robust operation model achieving the coordinated operation between an active distribution network (ADN) and microgrids (MGs). Thanks to the autonomous characteristic and heterogeneity of the individual agents ...

IEEE2022

Lidar point-to-point correspondences for rigorous registration of kinematic scanning in dynamic networks

Jan Skaloud, Davide Antonio Cucci, Aurélien Arnaud Brun

With the objective of improving the registration of lidar point clouds produced by kinematic scanning systems, we propose a novel trajectory adjustment procedure that leverages on the automated extraction of selected reliable 3D point–to–point corresponden ...

2022

How ornithopters can perch autonomously on a branch

Raphael Zufferey

Flapping wings produce lift and thrust in bio-inspired aerial robots, leading to quiet, safe and efficient flight. However, to extend their application scope, these robots must perch and land, a feat widely demonstrated by birds. Despite recent progress, f ...

Berlin2022

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