Related papers: Open-Vocabulary Online Semantic Mapping for SLAM
Pre-trained vision-language models (VLMs) have enabled significant progress in open vocabulary computer vision tasks such as image classification, object detection and image segmentation. Some recent works have focused on extending VLMs to…
In this paper we present a complete SLAM system for RGB-D cameras, namely RGB-iD SLAM. The presented approach is a dense direct SLAM method with the main characteristic of working with the depth maps in inverse depth parametrisation for the…
We present KM-ViPE (Knowledge Mapping Video Pose Engine), a real-time open-vocabulary SLAM framework for uncalibrated monocular cameras in dynamic environments. Unlike systems requiring depth sensors and offline calibration, KM-ViPE…
We present a fast, scalable, and accurate Simultaneous Localization and Mapping (SLAM) system that represents indoor scenes as a graph of objects. Leveraging the observation that artificial environments are structured and occupied by…
In this paper, an efficient closed-form solution for the state initialization in visual-inertial odometry (VIO) and simultaneous localization and mapping (SLAM) is presented. Unlike the state-of-the-art, we do not derive linear equations…
In semi-supervised semantic segmentation, existing studies have shown promising results in academic settings with controlled splits of benchmark datasets. However, the potential benefits of leveraging significantly larger sets of unlabeled…
Scene text recognition is an important and challenging task in computer vision. However, most prior works focus on recognizing pre-defined words, while there are various out-of-vocabulary (OOV) words in real-world applications. In this…
Generalizing open-vocabulary 3D instance segmentation (OV-3DIS) to diverse, unstructured, and mesh-free environments is crucial for robotics and AR/VR, yet remains a significant challenge. We attribute this to two key limitations of…
This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps. The proposed framework integrates a data-driven front-end…
Accurate perception of objects in the environment is important for improving the scene understanding capability of SLAM systems. In robotic and augmented reality applications, object maps with semantic and metric information show attractive…
Open-vocabulary semantic segmentation in the remote sensing (RS) field requires both language-aligned recognition and fine-grained spatial delineation. Although CLIP offers robust semantic generalization, its global-aligned visual…
We propose a novel online learning algorithm, called SpCoSLAM 2.0, for spatial concepts and lexical acquisition with high accuracy and scalability. Previously, we proposed SpCoSLAM as an online learning algorithm based on unsupervised…
Open-Vocabulary Segmentation (OVS) methods offer promising capabilities in detecting unseen object categories, but the category must be known and needs to be provided by a human, either via a text prompt or pre-labeled datasets, thus…
The evolving field of mobile robotics has indeed increased the demand for simultaneous localization and mapping (SLAM) systems. To augment the localization accuracy and mapping efficacy of SLAM, we refined the core module of the SLAM…
Semantic segmentation across visual modalities such as 3D point clouds and panoramic images remains a challenging task, primarily due to the scarcity of annotated data and the limited adaptability of fixed-label models. In this paper, we…
In this paper, we propose a RGB-D SLAM system that reconstructs a language-aligned dense feature field while sustaining low-latency tracking and mapping. First, we introduce a Top-K Rendering pipeline, a high-throughput and…
Ever more robust, accurate and detailed mapping using visual sensing has proven to be an enabling factor for mobile robots across a wide variety of applications. For the next level of robot intelligence and intuitive user interaction, maps…
This paper presents a novel tightly-coupled keyframe-based Simultaneous Localization and Mapping (SLAM) system with loop-closing and relocalization capabilities targeted for the underwater domain. Our previous work, SVIn, augmented the…
While Contrastive Language-Image Pre-training (CLIP) has advanced open-vocabulary predictions, its performance on semantic segmentation remains suboptimal. This shortfall primarily stems from its spatial-invariant semantic features and…
We present an on-line 3D visual object tracking framework for monocular cameras by incorporating spatial knowledge and uncertainty from semantic mapping along with high frequency measurements from visual odometry. Using a combination of…