Related papers: MASt3R-Nav: WayPixel Navigation in Relative 3D Map…
In the realm of future home-assistant robots, 3D articulated object manipulation is essential for enabling robots to interact with their environment. Many existing studies make use of 3D point clouds as the primary input for manipulation…
Plane Wave imaging enables many applications that require high frame rates, including localisation microscopy, shear wave elastography, and ultra-sensitive Doppler. To alleviate the degradation of image quality with respect to conventional…
Vision-and-Language Navigation (VLN) has long been constrained by the limited diversity and scalability of simulator-curated datasets, which fail to capture the complexity of real-world environments. To overcome this limitation, we…
Approximate convex decomposition aims to decompose a 3D shape into a set of almost convex components, whose convex hulls can then be used to represent the input shape. It thus enables efficient geometry processing algorithms specifically…
Autonomous driving car is becoming more of a reality, as a key component,high-definition(HD) maps shows its value in both market place and industry. Even though HD maps generation from LiDAR or stereo/perspective imagery has achieved…
Estimating geometry from dynamic scenes, where objects move and deform over time, remains a core challenge in computer vision. Current approaches often rely on multi-stage pipelines or global optimizations that decompose the problem into…
We present an interactive visualisation tool for recommending travel trajectories. This system is based on new machine learning formulations and algorithms for the sequence recommendation problem. The system starts from a map-based…
This paper presents a novel method for real-time 3D navigation in large-scale, complex environments using a hierarchical 3D visibility graph (V-graph). The proposed algorithm addresses the computational challenges of V-graph construction…
Trajectory planning involves generating a series of space points to be followed in the near future. However, due to the complex and uncertain nature of the driving environment, it is impractical for autonomous vehicles~(AVs) to exhaustively…
This paper proposes a novel algorithm for vehicle speed-aided monocular visual-inertial localization using a topological map. The proposed system aims to address the limitations of existing methods that rely heavily on expensive sensors…
We introduce a method for real-time navigation and tracking with differentiably rendered world models. Learning models for control has led to impressive results in robotics and computer games, but this success has yet to be extended to…
This work is concerned with a representation of shapes that disentangles fine, local and possibly repeating geometry, from global, coarse structures. Achieving such disentanglement leads to two unrelated advantages: i) a significant…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…
Recent advances in 3D generative models have rapidly improved image-to-3D synthesis quality, enabling higher-resolution geometry and more realistic appearance. Yet fidelity, which measures pixel-level faithfulness of the generated 3D asset…
Traversability estimation in off-road terrains is an essential procedure for autonomous navigation. However, creating reliable labels for complex interactions between the robot and the surface is still a challenging problem in…
Graph-based medical image segmentation represents anatomical structures using boundary graphs, providing fixed-topology landmarks and inherent population-level correspondences. However, their clinical adoption has been hindered by a major…
This paper proposes 3DGeoDet, a novel geometry-aware 3D object detection approach that effectively handles single- and multi-view RGB images in indoor and outdoor environments, showcasing its general-purpose applicability. The key challenge…