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Robust and accurate visual-inertial estimation is crucial to many of today's challenges in robotics. Being able to localize against a prior map and obtain accurate and driftfree pose estimates can push the applicability of such systems even…

There has been a considerable amount of research aimed at automating the documentation of accessibility in the built environment. Yet so far, there has been no fully automatic system that has been shown to reliably document surface quality…

Tactile graphics are widely used to present maps and statistical diagrams to blind and low vision (BLV) people, with accessibility guidelines recommending their use for graphics where spatial relationships are important. Their use is…

While interacting in the world is a multi-sensory experience, many robots continue to predominantly rely on visual perception to map and navigate in their environments. In this work, we propose Audio-Visual-Language Maps (AVLMaps), a…

Creating 3D semantic reconstructions of environments is fundamental to many applications, especially when related to autonomous agent operation (e.g., goal-oriented navigation or object interaction and manipulation). Commonly, 3D semantic…

Autonomously driving vehicles require a complete and robust perception of the local environment. A main challenge is to perceive any other road users, where multi-object tracking or occupancy grid maps are commonly used. The presented…

The creation of a metric-semantic map, which encodes human-prior knowledge, represents a high-level abstraction of environments. However, constructing such a map poses challenges related to the fusion of multi-modal sensor data, the…

Large-scale pre-training has shown promising results on the vision-and-language navigation (VLN) task. However, most existing pre-training methods employ discrete panoramas to learn visual-textual associations. This requires the model to…

High-definition maps (HD maps) are a key component of most modern self-driving systems due to their valuable semantic and geometric information. Unfortunately, building HD maps has proven hard to scale due to their cost as well as the…

A fundamental problem in combinatorial optimization is identifying equivalent formulations. Despite the growing need for automated equivalence checks -- driven, for example, by optimization copilots, which generate problem formulations from…

The relationships between objects and language are fundamental to meaningful communication between humans and AI, and to practically useful embodied intelligence. We introduce HieraNav, a multi-granularity, open-vocabulary goal navigation…

AI systems have achieved remarkable success in processing text and relational data, yet visual document processing remains relatively underexplored. Whereas traditional systems require OCR transcriptions to convert these visual documents…

Automated Essay Scoring (AES) faces significant challenges in cross-prompt settings, where models must generalize to unseen writing prompts. To address this limitation, we propose MAPLE, a meta-learning framework that leverages prototypical…

Despite the prevalence and historical importance of maps in digital collections, current methods of navigating and exploring map collections are largely restricted to catalog records and structured metadata. In this paper, we explore the…

Multimodal Retrieval-Augmented Generation (MRAG) enhances reasoning capabilities by integrating external knowledge. However, existing benchmarks primarily focus on simple image-text interactions, overlooking complex visual formats like…

Access to textual and visual information for visually impaired persons becomes very difficult with screen readers which are not adapted to different websites.This paper analyses the use of different technologies for access digital content…

Is vision good enough for language? Recent advancements in multimodal models primarily stem from the powerful reasoning abilities of large language models (LLMs). However, the visual component typically depends only on the instance-level…

Metro or transit maps, are schematic representations of transit networks to facilitate effective route-finding. These maps are often advertised on a web page or pamphlet highlighting routes from source to destination stations. To visually…

Augmented and Mixed Reality are emerging as likely successors to the mobile internet. However, many technical challenges remain. One of the key requirements of these systems is the ability to create a continuity between physical and virtual…

Despite diverse mobility needs worldwide, existing mapping tools fail to address the varied experiences of different mobility device users. This paper presents a large-scale online survey exploring how five mobility groups -- users of…