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Technology has made navigation in 3D real time possible and this has made possible what seemed impossible. This paper explores the aspect of deep visual odometry methods for mobile robots. Visual odometry has been instrumental in making…
We present ConVOI, a novel method for autonomous robot navigation in real-world indoor and outdoor environments using Vision Language Models (VLMs). We employ VLMs in two ways: first, we leverage their zero-shot image classification…
This article provides a simple pictorial introduction to universal hyperbolic geometry. We explain how to understand the subject using only elementary projective geometry, augmented by a distinguished circle. This provides a completely…
The operation of telerobotic systems can be a challenging task, requiring intuitive and efficient interfaces to enable inexperienced users to attain a high level of proficiency. Body-Machine Interfaces (BoMI) represent a promising…
Recent advances in garment simulation have brought high-quality results closer to real-time performance. Physics-based simulators can produce accurate motion, but remain too computationally expensive for interactive applications. In…
With the rapid advent of Virtual Reality (VR) technology and virtual tour applications, there is a research need on spatial queries tailored for simultaneous movements in both the physical and virtual worlds. Traditional spatial queries,…
Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…
Visual navigation using only a single camera and a topological map has recently become an appealing alternative to methods that require additional sensors and 3D maps. This is typically achieved through an "image-relative" approach to…
Hyperbolic space is a natural setting for mining and visualizing data with hierarchical structure. In order to compute a hyperbolic embedding from comparison or similarity information, one has to solve a hyperbolic distance geometry…
In this article we study virtual nonholonomic constraints, which are relations between the generalized coordinates and momenta of a mechanical system that can be enforced via feedback control. We design a constraint which emulates…
The realization space of geometric constraint systems is given by the vanishing locus of polynomials corresponding to natural geometric constraints. Such geometric constraint systems arise in many real-world scenarios such as structural…
This is an expository article on visual metrics on boundaries of hyperbolic metric spaces. We discuss the construction of visual metrics, quasisymmetries and their invariants, Hausdorff and conformal dimension, and constructions and…
The optimal transport (OT) problem aims to find the most efficient mapping between two probability distributions under a given cost function, and has diverse applications in many fields such as machine learning, computer vision and computer…
Navigation mesh (Navmesh) inconsistencies affect the player experience by directly impacting the navigation systems used by non-playable characters (NPCs) in game environments. While navmeshes are generated from world geometry using…
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…
Recently, there has been a rising surge of momentum for deep representation learning in hyperbolic spaces due to theirhigh capacity of modeling data like knowledge graphs or synonym hierarchies, possessing hierarchical structure. We refer…
In real life, grasping is one of the fundamental and effective forms of interaction when manipulating objects. This holds true in the physical and virtual world; however, unlike the physical world, virtual reality (VR) is grasped in a…
We present Roomify, a spatially-grounded transformation system that generates themed virtual environments anchored to users' physical rooms while maintaining spatial structure and functional semantics. Current VR approaches face a…
Recovering the spatial layout of the cameras and the geometry of the scene from extreme-view images is a longstanding challenge in computer vision. Prevailing 3D reconstruction algorithms often adopt the image matching paradigm and presume…
Tracking body and hand motions in the 3D space is essential for social and self-presence in augmented and virtual environments. Unlike the popular 3D pose estimation setting, the problem is often formulated as inside-out tracking based on…