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Semantic mapping is the incremental process of "mapping" relevant information of the world (i.e., spatial information, temporal events, agents and actions) to a formal description supported by a reasoning engine. Current research focuses on…
Grounding language to a navigating agent's observations can leverage pretrained multimodal foundation models to match perceptions to object or event descriptions. However, previous approaches remain disconnected from environment mapping,…
In agricultural settings, the unstructured nature of certain production environments, along with the high complexity and inherent risks of production tasks, poses significant challenges to achieving full automation and effective on-site…
Augmented Reality (AR) systems, while enhancing task performance through real-time guidance, pose risks of inducing cognitive tunneling-a hyperfocus on virtual content that compromises situational awareness (SA) in safety-critical…
Real-time 3D mapping is a critical component in many important applications today including robotics, AR/VR, and 3D visualization. 3D mapping involves continuously fusing depth maps obtained from depth sensors in phones, robots, and…
We can create Virtual Reality (VR) interactions that have no equivalent in the real world by remapping spacetime or altering users' body representation, such as stretching the user's virtual arm for manipulation of distant objects or…
Augmented Virtuality integrates physical content into virtual environments, but the occlusion of physical by virtual content is a challenge. This unwanted occlusion may disrupt user interactions with physical devices and compromise safety…
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
Classical methods of modelling and mapping robot work cells are time consuming, expensive and involve expert knowledge. We present a novel approach to mapping and cell setup using modern Head Mounted Displays (HMDs) that possess…
This paper introduces a new paradigm for sound source lo-calization referred to as virtual acoustic space traveling (VAST) and presents a first dataset designed for this purpose. Existing sound source localization methods are either based…
Over the past decade, the value and potential of VR applications in manufacturing have gained significant attention in accordance with the rise of Industry 4.0 and beyond. Its efficacy in layout planning, virtual design reviews, and…
Determining the occupancy status of locations in the environment is a fundamental task for safety-critical robotic applications. Traditional occupancy grid mapping methods subdivide the environment into a grid of voxels, each associated…
Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map…
In a robotised warehouse, as in any place where robots move autonomously, a major issue is the localization or detection of human operators during their intervention in the work area of the robots. This paper introduces a wearable human…
Human-Robot-Collaboration can enhance workflows by leveraging the mutual strengths of human operators and robots. Planning and understanding robot movements remain major challenges in this domain. This problem is prevalent in dynamic…
We introduce DualMap, an online open-vocabulary mapping system that enables robots to understand and navigate dynamically changing environments through natural language queries. Designed for efficient semantic mapping and adaptability to…
A common operation performed in Virtual Reality (VR) environments is locomotion. Although real walking can represent a natural and intuitive way to manage displacements in such environments, its use is generally limited by the size of the…
Visual Place Recognition (VPR) is often characterized as being able to recognize the same place despite significant changes in appearance and viewpoint. VPR is a key component of Spatial Artificial Intelligence, enabling robotic platforms…