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We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…
Shopping plays a significant role in shaping consumer identity and social integration. However, for individuals with visual impairments, navigating in supermarkets and identifying products can be an overwhelming and challenging experience.…
The increasingly complex and diverse planetary exploration environment requires more adaptable and flexible rover navigation strategy. In this study, we propose a VLM-empowered multi-mode system to achieve efficient while safe autonomous…
Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…
Exploring large virtual environments, such as cities, is a central task in several domains, such as gaming and urban planning. VR systems can greatly help this task by providing an immersive experience; however, a common issue with viewing…
This paper presents the development of a Simultaneous Localization and Mapping (SLAM) based Autonomous Navigation system. The motivation for this study was to find a solution for navigating interior spaces autonomously. Interior navigation…
Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…
Autonomy and independent navigation are vital to daily life but remain challenging for individuals with blindness. Robotic systems can enhance mobility and confidence by providing intelligent navigation assistance. However, fully autonomous…
Blind users rely on keyboards and assistive technologies like screen readers to interact with user interface (UI) elements. In modern applications with complex UI hierarchies, navigating to different UI elements poses a significant…
This paper reports on a study that helps visually-impaired people to walk more confidently. The study hypothesizes that a smart cane that alerts visually-impaired people over obstacles in front could help them in walking with less accident.…
How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…
Indoor navigation is a foundational technology to assist the tracking and localization of humans, autonomous vehicles, drones, and robots in indoor spaces. Due to the lack of penetration of GPS signals in buildings, subterranean locales,…
Curbs -- the edge of a raised sidewalk at the point where it meets a street -- crucial in urban environments where they help delineate safe pedestrian zones, from dangerous vehicular lanes. However, curbs themselves are significant…
We have pioneered the Where-You-Look-Is Where-You-Go approach to controlling mobility platforms by decoding how the user looks at the environment to understand where they want to navigate their mobility device. However, many natural…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
Meaningful social interaction is vital to well-being, yet Blind and Low Vision (BLV) individuals face persistent barriers when collaborating with sighted peers due to inaccessible visual cues. While most wearable assistive technologies…
Visual impairment affects the ability of people to live a life like normal people. Such people face challenges in performing activities of daily living, such as reading, writing, traveling and participating in social gatherings. Many…
Over 43 million people worldwide live with severe visual impairment, facing significant challenges in navigating unfamiliar environments. We present MR.NAVI, a mixed reality system that enhances spatial awareness for visually impaired users…
Infrared sensing is a core method for supporting unmanned systems, such as autonomous vehicles and drones. Recently, infrared sensors have been widely deployed on mobile and stationary platforms for detection and classification of objects…
Robotic guide dogs hold significant potential to enhance the autonomy and mobility of blind or visually impaired (BVI) individuals by offering universal assistance over unstructured terrains at affordable costs. However, the design of…