281 citations · 552 across the 10 of their papers we have counts for
14 papers
Fast Image-Anomaly Mitigation for Autonomous Mobile Robots
Gianmario Fumagalli, Yannick Huber, Marcin Dymczyk +2
Camera anomalies like rain or dust can severelydegrade image quality and its related tasks, such as localizationand segmentation. In this work we address this importantissue by imp…
Leveraging Stereo-Camera Data for Real-Time Dynamic Obstacle Detection and Tracking
Thomas Eppenberger, Gianluca Cesari, Marcin Dymczyk +2
Dynamic obstacle avoidance is one crucial component for compliant navigation in crowded environments. In this paper we present a system for accurate and reliable detection and trac…
OneShot Global Localization: Instant LiDAR-Visual Pose Estimation
Sebastian Ratz, Marcin Dymczyk, Roland Siegwart +1
Globally localizing in a given map is a crucial ability for robots to perform a wide range of autonomous navigation tasks. This paper presents OneShot - a global localization algor…
SegMap: Segment-based mapping and localization using data-driven descriptors
Renaud Dubé, Andrei Cramariuc, Daniel Dugas +5
Precisely estimating a robot's pose in a prior, global map is a fundamental capability for mobile robotics, e.g. autonomous driving or exploration in disaster zones. This task, how…
VIZARD: Reliable Visual Localization for Autonomous Vehicles in Urban Outdoor Environments
Mathias Bürki, Lukas Schaupp, Marcin Dymczyk +4
Changes in appearance is one of the main sources of failure in visual localization systems in outdoor environments. To address this challenge, we present VIZARD, a visual localizat…
From Coarse to Fine: Robust Hierarchical Localization at Large Scale
Paul-Edouard Sarlin, Cesar Cadena, Roland Siegwart +1
Robust and accurate visual localization is a fundamental capability for numerous applications, such as autonomous driving, mobile robotics, or augmented reality. It remains, howeve…