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Wide-Area Geolocalization with a Limited Field of View Camera
This paper presents Restricted FOV Wide-Area Geolocalization (ReWAG), a cross-view geolocalization approach that generalizes WAG for use with standard, non-panoramic ground cameras by creating pose-aware embeddings and providing a strategy to incorporate particle pose into the Siamese network.
City-wide Street-to-Satellite Image Geolocalization of a Mobile Ground Agent
Taken together, WAG's network training and particle filter weighting approach achieves city-scale position estimation accuracies on the order of 20 meters, a 98% reduction compared to a baseline training and weighting approach.
Lunar Terrain Relative Navigation Using a Convolutional Neural Network for Visual Crater Detection
Terrain relative navigation can improve the precision of a spacecraft's position estimate by detecting global features that act as supplementary measurements to correct for drift in the inertial navigation system.
Efficient Constellation-Based Map-Merging for Semantic SLAM
Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments.
Robotics
Complexity Analysis and Efficient Measurement Selection Primitives for High-Rate Graph SLAM
To demonstrate why, we propose a quantitative metric called elimination complexity (EC) that bridges the existing analytic gap between graph structure and computation.
Robotics
