2 papers
cs.RO2026
Micro-Localization: High-Precision Mobile Robot Localization Using Microscopic Ground Texture
Aaron Wilhelm, Marina de Albuquerque Marcon, Emith Uyanwatte +1
We demonstrate high-precision global localization using natural ground texture viewed through microscope optics, achieving localization in the tens-of-micrometers regime. For the p…
cs.CV2025
Improved Bag-of-Words Image Retrieval with Geometric Constraints for Ground Texture Localization
Aaron Wilhelm, Nils Napp
Ground texture localization using a downward-facing camera offers a low-cost, high-precision localization solution that is robust to dynamic environments and requires no environmen…