Related papers: A Semantic Communication System for Real-time 3D R…
Robots deployed in real-world environments, such as homes, must not only navigate safely but also understand their surroundings and adapt to changes in the environment. To perform tasks efficiently, they must build and maintain a semantic…
Intelligent mobile robots are critical in several scenarios. However, as their computational resources are limited, mobile robots struggle to handle several tasks concurrently and yet guaranteeing real-timeliness. To address this challenge…
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…
Semantic communication initiates a new direction for future communication. In this paper, we aim to establish a systematic framework of semantic information theory (SIT). First, we propose a semantic communication model and define the…
Reconstructing 3D shapes from a single image plays an important role in computer vision. Many methods have been proposed and achieve impressive performance. However, existing methods mainly focus on extracting semantic information from…
This article presents a novel approach to identifying and classifying intersections for semantic and topological mapping. More specifically, the proposed novel approach has the merit of generating a semantically meaningful map containing…
Semantic communication is viewed as a revolutionary paradigm that can potentially transform how we design and operate wireless communication systems. However, despite a recent surge of research activities in this area, the research…
Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…
The primary challenge in autonomous lunar landing missions lies in the unreliable local control system, which has limited capacity to handle high-dynamic conditions, severely affecting landing precision and safety. Recent advancements in…
This paper pertains to the analysis and design of decentralized estimation schemes that make use of limited communication. Briefly, these schemes equip the sensors with scalar states that iteratively merge the measurements and the state of…
Real-time urban traffic surveillance is vital for Intelligent Transportation Systems (ITS) to ensure road safety, optimize traffic flow, track vehicle trajectories, and prevent collisions in smart cities. Deploying edge cameras across urban…
We consider a semantic communication system for speech signals, named DeepSC-S. Motivated by the breakthroughs in deep learning (DL), we make an effort to recover the transmitted speech signals in the semantic communication systems, which…
Imagine being able to listen to the birds chirping in a park without hearing the chatter from other hikers, or being able to block out traffic noise on a busy street while still being able to hear emergency sirens and car honks. We…
Loop closure is necessary for correcting errors accumulated in simultaneous localization and mapping (SLAM) in unknown environments. However, conventional loop closure methods based on low-level geometric or image features may cause high…
Communication systems to date primarily aim at reliably communicating bit sequences. Such an approach provides efficient engineering designs that are agnostic to the meanings of the messages or to the goal that the message exchange aims to…
We study the task of 3D multi-object re-identification from embodied tours. Specifically, an agent is given two tours of an environment (e.g. an apartment) under two different layouts (e.g. arrangements of furniture). Its task is to detect…
Seamless Human-Robot Interaction is the ultimate goal of developing service robotic systems. For this, the robotic agents have to understand their surroundings to better complete a given task. Semantic scene understanding allows a robotic…
We investigate the task of object goal navigation in unknown environments where the target is specified by a semantic label (e.g. find a couch). Such a navigation task is especially challenging as it requires understanding of semantic…
Millimeter-wave (mmWave) and terahertz (THz) communication systems require large antenna arrays and use narrow directive beams to ensure sufficient receive signal power. However, selecting the optimal beams for these large antenna arrays…
Semantic segmentation is the problem of assigning a class label to every pixel in an image, and is an important component of an autonomous vehicle vision stack for facilitating scene understanding and object detection. However, many of the…