Abstract:
Can we localize a robot on a map only using monocular vision? This study presents NuRF, an adaptive and nudged particle filter framework in radiance fields for 6-DoF robo...Show MoreMetadata
Abstract:
Can we localize a robot on a map only using monocular vision? This study presents NuRF, an adaptive and nudged particle filter framework in radiance fields for 6-DoF robot visual localization. NuRF leverages recent advancements in radiance fields and visual place recognition. Conventional visual place recognition meets the challenges of data sparsity and artifact-induced inaccuracies. By utilizing radiance field-generated novel views, NuRF enhances visual localization performance and combines coarse global localization with the fine-grained pose tracking of a particle filter, ensuring continuous and precise localization. Experimentally, our method converges 7 times faster than existing Monte Carlo-based methods and achieves localization accuracy within 1 meter, offering an efficient and resilient solution for indoor visual localization.
Published in: IEEE Transactions on Cognitive and Developmental Systems ( Early Access )
Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, SAR
Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, SAR
Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, SAR
Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, SAR
Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, SAR
Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, SAR
Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, SAR
Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, SAR
