Related papers: The Surprising Effectiveness of Visual Odometry Te…
In the absence of reliable and accurate GPS, visual odometry (VO) has emerged as an effective means of estimating the egomotion of robotic vehicles. Like any dead-reckoning technique, VO suffers from unbounded accumulation of drift error…
This paper proposes two new algorithms for certified perception in safety-critical robotic applications. The first is a Certified Visual Odometry algorithm, which uses a RGBD camera with bounded sensor noise to construct a visual odometry…
Visual navigation follows the intuition that humans can navigate without detailed maps. A common approach is interactive exploration while building a topological graph with images at nodes that can be used for planning. Recent variations…
Navigation and manipulation are core capabilities in Embodied AI, yet training agents with these capabilities in the real world faces high costs and time complexity. Therefore, sim-to-real transfer has emerged as a key approach, yet the…
Autonomous robots often rely on monocular cameras for odometry estimation and navigation. However, the scale ambiguity problem presents a critical barrier to effective monocular visual odometry. In this paper, we present CodedVO, a novel…
Object goal navigation is a fundamental task in embodied AI, where an agent is instructed to locate a target object in an unexplored environment. Traditional learning-based methods rely heavily on large-scale annotated data or require…
Recent decades have witnessed a significant increase in the use of visual odometry(VO) in the computer vision area. It has also been used in varieties of robotic applications, for example on the Mars Exploration Rovers. This paper, firstly,…
Image goal navigation requires two different skills: firstly, core navigation skills, including the detection of free space and obstacles, and taking decisions based on an internal representation; and secondly, computing directional…
With an ever-widening domain of aerial robotic applications, including many mission critical tasks such as disaster response operations, search and rescue missions and infrastructure inspections taking place in GPS-denied environments, the…
Visual odometry (VO) aims to estimate camera poses from visual inputs -- a fundamental building block for many applications such as VR/AR and robotics. This work focuses on monocular RGB VO where the input is a monocular RGB video without…
Efficient ObjectGoal navigation (ObjectNav) in novel environments requires an understanding of the spatial and semantic regularities in environment layouts. In this work, we present a straightforward method for learning these regularities…
This paper addresses the Object Goal Navigation problem, where a robot must efficiently find a target object in an unknown environment. Existing implicit memory-based methods struggle with long-term memory retention and planning, while…
Object Goal Navigation (ObjectNav) challenges robots to find objects in unseen environments, demanding sophisticated reasoning. While Vision-Language Models (VLMs) show potential, current ObjectNav methods often employ them superficially,…
Trajectory prediction is a fundamental problem in computer vision, vision-language-action models, world models, and autonomous systems, with broad impact on autonomous driving, robotics, and surveillance. However, most existing methods…
Indoor localization systems often fuse inertial odometry with map information via hand-defined methods to reduce odometry drift, but such methods are sensitive to noise and struggle to generalize across odometry sources. To address the…
On the off-the-shelf navigational assistance devices, the localization precision is limited to the signal error of global navigation satellite system (GNSS). During travelling outdoors, the inaccurately localization perplexes visually…
This article describes an algorithm that provides visual odometry estimates from sequential pairs of RGBD images. The key contribution of this article on RGBD odometry is that it provides both an odometry estimate and a covariance for the…
In this paper, we investigate the utility of head-mounted display (HMD) interfaces for navigation of mobile robots. We focus on the selection of waypoint positions for the robot, whilst maintaining an egocentric view of the robot's…
Most visual odometry algorithm for a monocular camera focuses on points, either by feature matching, or direct alignment of pixel intensity, while ignoring a common but important geometry entity: edges. In this paper, we propose an odometry…
Semantic navigation is necessary to deploy mobile robots in uncontrolled environments like our homes, schools, and hospitals. Many learning-based approaches have been proposed in response to the lack of semantic understanding of the…