Related papers: NanoMVG: USV-Centric Low-Power Multi-Task Visual G…

Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…

Bathymetry, the study of underwater topography, relies on sonar mapping of submerged structures. These measurements, critical for infrastructure health monitoring, often require expensive instrumentation. The high financial risk associated…

As spatial intelligence continues to evolve, heterogeneous multi-agent systems-particularly the collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs), have demonstrated strong potential in complex…

Understanding and localizing objects in complex 3D environments from natural language descriptions, known as 3D Visual Grounding (3DVG), is a foundational challenge in embodied AI, with broad implications for robotics, augmented reality,…

General 3D foundation models have started to lead the trend of unifying diverse vision tasks, yet most assume RGB-only inputs and ignore readily available geometric cues (e.g., camera intrinsics, poses, and depth maps). To address this…

Current perception models for different tasks usually exist in modular forms on Unmanned Surface Vehicles (USVs), which infer extremely slowly in parallel on edge devices, causing the asynchrony between perception results and USV position,…

The significance of cross-view 3D geometric modeling capabilities for autonomous driving is self-evident, yet existing Vision-Language Models (VLMs) inherently lack this capability, resulting in their mediocre performance. While some…

Multimodal Large Language Models (MLLMs) have demonstrated impressive progress in single-image grounding and general multi-image understanding. Recently, some methods begin to address multi-image grounding. However, they are constrained by…

The desire to empower resource-limited edge devices with computer vision (CV) must overcome the high energy consumption of collecting and processing vast sensory data. To address the challenge, this work proposes an energy-efficient…

Limited power and computational resources, absence of high-end sensor equipment and GPS-denied environments are challenges faced by autonomous micro areal vehicles (MAVs). We address these challenges in the context of autonomous navigation…

While current multimodal models can answer questions based on 2D images, they lack intrinsic 3D object perception, limiting their ability to comprehend spatial relationships and depth cues in 3D scenes. In this work, we propose N3D-VLM, a…

This paper presents an algorithm and the implementation of a motor schema to aid the visual localization subsystem of the ongoing EMILY project at Texas A and M University. The EMILY project aims to team an Unmanned Surface Vehicle (USV)…

Vision-and-Language Navigation (VLN) empowers agents to associate time-sequenced visual observations with corresponding instructions to make sequential decisions. However, generalization remains a persistent challenge, particularly when…

Embodied scene understanding requires not only comprehending visual-spatial information that has been observed but also determining where to explore next in the 3D physical world. Existing 3D Vision-Language (3D-VL) models primarily focus…

3D visual grounding (3DVG) is a critical task in scene understanding that aims to identify objects in 3D scenes based on text descriptions. However, existing methods rely on separately pre-trained vision and text encoders, resulting in a…

Vision-language models demonstrate unprecedented performance and generalization across a wide range of tasks and scenarios. Integrating these foundation models into robotic navigation systems opens pathways toward building general-purpose…

Virtual reality (VR) head-mounted displays (HMD) have recently been used to provide an immersive, first-person vision/view in real-time for manipulating remotely-controlled unmanned ground vehicles (UGV). The teleoperation of UGV can be…

We introduce Goal-Conditioned Visual Navigation Instruction Generation (GoViG), a new task that aims to generate contextually coherent navigation instructions solely from egocentric visual observations of initial and goal states. Unlike…

Autonomous driving on water surfaces plays an essential role in executing hazardous and time-consuming missions, such as maritime surveillance, survivors rescue, environmental monitoring, hydrography mapping and waste cleaning. This work…

Nano-size unmanned aerial vehicles (UAVs) hold enormous potential to perform autonomous operations in complex environments, such as inspection, monitoring or data collection. Moreover, their small size allows safe operation close to humans…