Related papers: Vision-Aided Online A* Path Planning for Efficient…
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…
Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observations for accomplishing its mission. Existing approaches either…
Creating and maintaining an accurate representation of the environment is an essential capability for every service robot. Especially for household robots acting in indoor environments, semantic information is important. In this paper, we…
To solve its task, a robot needs to have the ability to interpret its perceptions. In vision, this interpretation is particularly difficult and relies on the understanding of the structure of the scene, at least to the extent of its task…
This paper develops a novel framework called Providers-Clients-Robots (PCR), applicable to socially assistive robots that support research on shared understanding in human-robot interactions. Providers, Clients, and Robots share an…
We consider the problem of object goal navigation in unseen environments. Solving this problem requires learning of contextual semantic priors, a challenging endeavour given the spatial and semantic variability of indoor environments.…
Most common tasks for robots in dynamic spaces require that the environment is regularly and actively perceived, with many of them explicitly requiring objects or persons to be within view, i.e., for monitoring or safety. However, solving…
Deployment of deep learning models in robotics as sensory information extractors can be a daunting task to handle, even using generic GPU cards. Here, we address three of its most prominent hurdles, namely, i) the adaptation of a single…
A key proficiency an autonomous mobile robot must have to perform high-level tasks is a strong understanding of its environment. This involves information about what types of objects are present, where they are, what their spatial extend…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
Learning-based path planning is becoming a promising robot navigation methodology due to its adaptability to various environments. However, the expensive computing and storage associated with networks impose significant challenges for their…
Autonomous robots operating in complex, unstructured environments face significant challenges due to latent, unobserved factors that obscure their understanding of both their internal state and the external world. Addressing this challenge…
Researchers are exploring Augmented Reality (AR) interfaces for online robot programming to streamline automation and user interaction in variable manufacturing environments. This study introduces an AR interface for online programming and…
Purpose: We describe a 3D multi-view perception system for the da Vinci surgical system to enable Operating room (OR) scene understanding and context awareness. Methods: Our proposed system is comprised of four Time-of-Flight (ToF) cameras…
Human navigation in built environments depends on symbolic spatial information which has unrealised potential to enhance robot navigation capabilities. Information sources such as labels, signs, maps, planners, spoken directions, and…
Visual-audio navigation (VAN) is attracting more and more attention from the robotic community due to its broad applications, \emph{e.g.}, household robots and rescue robots. In this task, an embodied agent must search for and navigate to…
For autonomous robots to navigate a complex environment, it is crucial to understand the surrounding scene both geometrically and semantically. Modern autonomous robots employ multiple sets of sensors, including lidars, radars, and cameras.…
We consider the problem of planning a collision-free path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain guidance from a user. In contrast to existing approaches that…
Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…
Vision guided navigation requires processing complex visual information to inform task-orientated decisions. Applications include autonomous robots, self-driving cars, and assistive vision for humans. A key element is the extraction and…