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Vision Transformers (ViTs) have demonstrated strong performance across a range of computer vision tasks by modeling long-range spatial interactions via self-attention. However, channel-wise mixing in ViTs remains static, relying on fixed…
While feature association to a global map has significant benefits, to keep the computations from growing exponentially, most lidar-based odometry and mapping methods opt to associate features with local maps at one voxel scale. Taking…
Most research on 3D user interfaces aims at providing only a single sensory modality. One challenge is to integrate several sensory modalities into a seamless system while preserving each modality's immersion and performance factors. This…
Vision Transformers (ViTs) have established new performance benchmarks in vision tasks such as image recognition and object detection. However, these advancements come with significant demands for memory and computational resources,…
In dynamic interaction graphs, user-item interactions usually follow heterogeneous patterns, represented by different structural information, such as user-item co-occurrence, sequential information of user interactions and the transition…
An automated vehicle operating in an urban environment must be able to perceive and recognise object/obstacles in a three-dimensional world while navigating in a constantly changing environment. In order to plan and execute accurate…
The difficulty and consequent fear of travel is one of the most disabling consequences of blindness and severe vision impairment, affecting confidence and quality of life. Traditional tactile graphics are vital in the Orientation and…
This paper addresses the problem of learning instantaneous occupancy levels of dynamic environments and predicting future occupancy levels. Due to the complexity of most real-world environments, such as urban streets or crowded areas, the…
The design of intuitive three-dimensional user interfaces is vital for interaction in virtual reality, allowing to effectively close the loop between a human user and the virtual environment. The utilization of 3D gestural input allows for…
This paper introduces InverseMatrixVT3D, an efficient method for transforming multi-view image features into 3D feature volumes for 3D semantic occupancy prediction. Existing methods for constructing 3D volumes often rely on depth…
For robotic interaction in environments shared with other agents, access to volumetric and semantic maps of the scene is crucial. However, such environments are inevitably subject to long-term changes, which the map needs to account for. We…
Desktop environments can integrate augmented reality (AR) head-worn devices to support 3D representations, visualizations, and interactions in a novel yet familiar setting. As users navigate across the dual realities -- desktop and AR -- a…
This article introduces an approach to facilitate cooperative exploration and mapping of large-scale, near-ground, underground, or indoor spaces via a novel integration framework for locally-dense agent map data. The effort targets limited…
Despite significant advancements in image matting, existing models heavily depend on manually-drawn trimaps for accurate results in natural image scenarios. However, the process of obtaining trimaps is time-consuming, lacking…
This article introduces a novel approach to constructing a topometric map that allows for efficient navigation and decision-making in mobile robotics applications. The method generates the topometric map from a 2D grid-based map. The…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…
Most software applications contain graphics such as charts, diagrams and maps. Currently, these graphics are designed with a ``one size fits all" approach and do not cater to the needs of people with disabilities. Therefore, when using…
Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy grid, which is not trivial to keep consistent for prolonged…
In this work, we present a method for a probabilistic fusion of external depth and onboard proximity data to form a volumetric 3-D map of a robot's environment. We extend the Octomap framework to update a representation of the area around…
This paper investigates the multi-agent cooperative exploration problem, which requires multiple agents to explore an unseen environment via sensory signals in a limited time. A popular approach to exploration tasks is to combine active…