Related papers: On Incremental Structure-from-Motion using Lines
Real time outdoor navigation in highly dynamic environments is an crucial problem. The recent literature on real time static SLAM don't scale up to dynamic outdoor environments. Most of these methods assume moving objects as outliers or…
Seamless Human-Robot Interaction is the ultimate goal of developing service robotic systems. For this, the robotic agents have to understand their surroundings to better complete a given task. Semantic scene understanding allows a robotic…
Structure from Motion (SfM) is a critical task in computer vision, aiming to recover the 3D scene structure and camera motion from a sequence of 2D images. The recent pose-only imaging geometry decouples 3D coordinates from camera poses and…
This paper proposes an SVM Enhanced Trajectory Planner for dynamic scenes, typically those encountered in on road settings. Frenet frame based trajectory generation is popular in the context of autonomous driving both in research and…
Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…
World modelling, i.e. building a representation of the rules that govern the world so as to predict its evolution, is an essential ability for any agent interacting with the physical world. Despite their impressive performance, many…
There is a general expectation that robots should operate in environments that consist of static and dynamic entities including people, furniture and automobiles. These dynamic environments pose challenges to visual simultaneous…
Non-rigid structure-from-motion (NRSfM), a promising technique for addressing the mapping challenges in monocular visual deformable simultaneous localization and mapping (SLAM), has attracted growing attention. We introduce a novel method,…
Embodied reasoning is inherently viewpoint-dependent: what is visible, occluded, or reachable depends critically on where the agent stands. However, existing spatial memory systems for embodied agents typically store either multi-view…
Differentiable physics is a powerful tool in computer vision and robotics for scene understanding and reasoning about interactions. Existing approaches have frequently been limited to objects with simple shape or shapes that are known in…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
Recent Multi-Modal Large Language Models (MLLMs) have demonstrated strong capabilities in learning joint representations from text and images. However, their spatial reasoning remains limited. We introduce 3DFroMLLM, a novel framework that…
Simultaneous localization and mapping (SLAM) is the process of constructing a global model of an environment from local observations of it; this is a foundational capability for mobile robots, supporting such core functions as planning,…
Humans possess an exceptional ability to imagine 4D scenes, encompassing both motion and 3D geometry, from a single still image. This ability is rooted in our accumulated observations of similar scenes and an intuitive understanding of…
Spatial reasoning is a fundamental aspect of human cognition, enabling intuitive understanding and manipulation of objects in three-dimensional space. While foundation models demonstrate remarkable performance on some benchmarks, they still…
Structure from Motion (SfM) estimates camera poses and reconstructs point clouds, forming a foundation for various tasks. However, applying SfM to driving scenes captured by multi-camera systems presents significant difficulties, including…
Non-Rigid Structure-from-Motion (NRSfM) reconstructs a deformable 3D object from the correspondences established between monocular 2D images. Current NRSfM methods lack statistical robustness, which is the ability to cope with…
Humans are remarkable in their ability to navigate without metric information. We can read abstract 2D maps, such as floor-plans or hand-drawn sketches, and use them to navigate in unseen rich 3D environments, without requiring prior…
Current multimodal LLMs encode images as static visual prefixes and rely on text-based reasoning, lacking goal-driven and adaptive visual access. Inspired by human visual perception-where attention is selectively and sequentially shifted…
This paper addresses the task of dense non-rigid structure-from-motion (NRSfM) using multiple images. State-of-the-art methods to this problem are often hurdled by scalability, expensive computations, and noisy measurements. Further, recent…