Related papers: SSR: A Generic Framework for Text-Aided Map Compre…
Compressed sensing (CS) is a powerful method routinely employed to accelerate image acquisition. It is particularly suited to situations when the image under consideration is sparse but can be sampled in a basis where it is non-sparse. Here…
Visual Place Recognition (VPR) enables coarse localization by comparing query images to a reference database of geo-tagged images. Recent breakthroughs in deep learning architectures and training regimes have led to methods with improved…
Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…
We extend our study of Motion Planning via Manifold Samples (MMS), a general algorithmic framework that combines geometric methods for the exact and complete analysis of low-dimensional configuration spaces with sampling-based approaches…
We present SOS-Match, a novel framework for detecting and matching objects in unstructured environments. Our system consists of 1) a front-end mapping pipeline using a zero-shot segmentation model to extract object masks from images and…
This paper proposes Relational Similarity Machines (RSM): a fast, accurate, and flexible relational learning framework for supervised and semi-supervised learning tasks. Despite the importance of relational learning, most existing methods…
Wi-Fi-based positioning promises a scalable and privacy-preserving solution for location-based services in indoor environments such as malls, airports, and campuses. RSS-based methods are widely deployable as RSS data is available on all…
Recently, neural network (NN)-based image compression studies have actively been made and has shown impressive performance in comparison to traditional methods. However, most of the works have focused on non-scalable image compression…
Change detection, i.e., anomaly detection from local maps built by a mobile robot at multiple different times, is a challenging problem to solve in practice. Most previous work either cannot be applied to scenarios where the size of the map…
Many language-guided robotic systems rely on collapsing spatial reasoning into discrete points, making them brittle to perceptual noise and semantic ambiguity. To address this challenge, we propose RoboMAP, a framework that represents…
Remote-sensing (RS) image compression at extremely low bitrates has always been a challenging task in practical scenarios like edge device storage and narrow bandwidth transmission. Generative models including VAEs and GANs have been…
Despite their high accuracy, complex neural networks demand significant computational resources, posing challenges for deployment on resource constrained devices such as mobile phones and embedded systems. Compression algorithms have been…
Storing tabular data to balance storage and query efficiency is a long-standing research question in the database community. In this work, we argue and show that a novel DeepMapping abstraction, which relies on the impressive memorization…
We introduced SSR, which utilizes SAM (segment-anything) as a strong regularizer during training, to greatly enhance the robustness of the image encoder for handling various domains. Specifically, given the fact that SAM is pre-trained with…
Spectrum resources are facing huge demands and cognitive radio (CR) can improve the spectrum utilization. Recently, power spectral density (PSD) map is defined to enable the CR to reuse the frequency resources regarding to the area. For…
Recent technological advancements have led to the generation of huge amounts of data over the web, such as text, image, audio and video. Most of this data is high dimensional and sparse, for e.g., the bag-of-words representation used for…
A robust visual localization and mapping system is essential for warehouse robot navigation, as cameras offer a more cost-effective alternative to LiDAR sensors. However, existing forward-facing camera systems often encounter challenges in…
We consider the task of building compact deep learning pipelines suitable for deployment on storage and power constrained mobile devices. We propose a unified framework to learn a broad family of structured parameter matrices that are…
Soft random sampling (SRS) is a simple yet effective approach for efficient training of large-scale deep neural networks when dealing with massive data. SRS selects a subset uniformly at random with replacement from the full data set in…
Simultaneous Localization and Mapping (SLAM) has been crucial across various domains, including autonomous driving, mobile robotics, and mixed reality. Dense visual SLAM, leveraging RGB-D camera systems, offers advantages but faces…