Related papers: Visual Generalized Coordinates
Generalist neural routing solvers have shown great potential in solving diverse vehicle routing problems (VRPs) with a unified model. However, existing solvers are typically limited to symmetric settings or degrade in performance when…
Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…
Visual re-localization means using a single image as input to estimate the camera's location and orientation relative to a pre-recorded environment. The highest-scoring methods are "structure based," and need the query camera's intrinsics…
A basic problem in computer vision is to understand the structure of a real-world scene given several images of it. Here we study several theoretical aspects of the intra multi-view geometry of calibrated cameras when all that they can…
This paper presents Vision-Language Global Localization (VLG-Loc), a novel global localization method that uses human-readable labeled footprint maps containing only names and areas of distinctive visual landmarks in an environment. While…
Visual place recognition (VPR) capabilities enable autonomous robots to navigate complex environments by discovering the environment's topology based on visual input. Most research efforts focus on enhancing the accuracy and robustness of…
At its core, robotic manipulation is a problem of vision-to-geometry mapping ($f(v) \rightarrow G$). Physical actions are fundamentally defined by geometric properties like 3D positions and spatial relationships. Consequently, we argue that…
To operate intelligently in domestic environments, robots require the ability to understand arbitrary spatial relations between objects and to generalize them to objects of varying sizes and shapes. In this work, we present a novel…
This paper proposes a novel method for vision-based metric cross-view geolocalization (CVGL) that matches the camera images captured from a ground-based vehicle with an aerial image to determine the vehicle's geo-pose. Since aerial images…
We introduce a new approach for robotic manipulation tasks in human settings that necessitates understanding the 3D geometric connections between a pair of objects. Conventional end-to-end training approaches, which convert pixel…
The traditional distributed model of autonomous, homogeneous, mobile point robots usually assumes that the robots do not create any visual obstruction for the other robots, i.e., the robots are see through. In this paper, we consider a…
Recovering the spatial layout of the cameras and the geometry of the scene from extreme-view images is a longstanding challenge in computer vision. Prevailing 3D reconstruction algorithms often adopt the image matching paradigm and presume…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
The general position problem for graphs asks for the largest number of vertices in a subset $S \subseteq V(G)$ of a graph $G$ such that for any $u,v \in S$ and any shortest $u,v$-path $P$ we have $S \cap V(P) = \{ u,v\} $, whereas the…
Visual odometry (VO) is a prevalent way to deal with the relative localization problem, which is becoming increasingly mature and accurate, but it tends to be fragile under challenging environments. Comparing with classical geometry-based…
Collaborative SLAM is at the core of perception in multi-robot systems as it enables the co-localization of the team of robots in a common reference frame, which is of vital importance for any coordination amongst them. The paradigm of a…
Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorithms are capable of planning collision-free path between start…
Environment perception is a crucial ability for robot's interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is…
We study the problem of planning paths for a team of robots for visually monitoring an environment. Our work is motivated by surveillance and persistent monitoring applications. We are given a set of target points in a polygonal environment…
The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which…