Real-time six degrees-of-freedom pose estimation with ground vehicles represents a relevant and well-studied topic in robotics due to its many applications such as autonomous driving 3D mapping. Although some systems already exist, they are either not accurate or struggle real-time settings. In this letter, we propose fast, modular LiDAR SLAM system for both batch online estimation. We first ap...

The manoeuvring performance of a ship in shallow water is substantially different from its deep water, attributed to effects caused by the presence finite depth. Without doubt will navigate areas at various times during operational life (such as when approaching harbours or ports), which underscores importance understanding on manoeuvrability. In present paper, manoeuvrability KRISO Container S...

6DOF camera relocalization is an important component of autonomous driving and navigation. Deep learning has recently emerged as a promising technique to tackle this problem. In paper, we present novel relative geometry-aware Siamese neural network enhance the performance deep learning-based methods through explicitly exploiting geometry constraints between images. We perform multi-task predict...

In this paper we describe a system that carries out SLAM using a stereo pair moving with 6DOF as the only sensor. Textured point features are extracted from the images and stored as 3D points if seen in both images with sufficient disparity, or stored as inverse 3D points otherwise. This allows the system to make use of both near and far features that provide distance and orientation, or orient...

Hybrid imaging systems, consisting of fluoroscopy and echocardiography, are increasingly selected for intra-operative support of minimally invasive cardiac interventions. Intracardiac echocardiograpy (ICE) is an emerging modality with the promise of removing sedation or general anesthesia associated with transesophageal echocardiography (TEE). We introduce a novel 6 degrees of freedom (DoF) pos...

This work prepares a smooth playing ground to modeling and simulation of Collision Avoidance for Cooperative UAVs with Rolling Optimization Algorithm (ROA) Based on Predictive State Space (PSS) technique using Matlab, Simulink Aerospace toolboxes MathsWork. The methodological approach adopted is Computer Aided Software Engineering have handle collisions maneuvers in mathematical way, normal the...

Visual localization is a core part of many computer vision and geospatial perception applications; however, the ever-changing time phase environment present challenges. Moreover, ever-enriching spatial data types sensors create new conditions for visual localization. Based on prior 3D model location sensor, current study proposes method using semantic information. This integrates panoptic segme...