Related papers: MASt3R-Nav: WayPixel Navigation in Relative 3D Map…

Globally consistent dense maps are a key requirement for long-term robot navigation in complex environments. While previous works have addressed the challenges of dense mapping and global consistency, most require more computational…

Recent image-goal navigation (ImageNav) methods learn a perception-action policy by separately capturing semantic features of the goal and egocentric images, then passing them to a policy network. However, challenges remain: (1) Semantic…

We formalize concepts around geometric occlusion in 2D images (i.e., ignoring semantics), and propose a novel unified formulation of both occlusion boundaries and occlusion orientations via a pixel-pair occlusion relation. The former…

Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…

Maps play a key role in rapidly developing area of autonomous driving. We survey the literature for different map representations and find that while the world is three-dimensional, it is common to rely on 2D map representations in order to…

While humans can successfully navigate using abstractions, ignoring details that are irrelevant to the task at hand, most existing robotic applications require the maintenance of a detailed environment representation which consumes a…

Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…

Using geometric landmarks like lines and planes can increase navigation accuracy and decrease map storage requirements compared to commonly-used LiDAR point cloud maps. However, landmark-based registration for applications like loop closure…

Modern computer networks support interesting new routing models in which traffic flows from a source s to a destination t can be flexibly steered through a sequence of waypoints, such as (hardware) middleboxes or (virtualized) network…

Prior panorama stitching approaches heavily rely on pairwise feature correspondences and are unable to leverage geometric consistency across multiple views. This leads to severe distortion and misalignment, especially in challenging scenes…

Recent feed-forward geometry foundation models have demonstrated impressive generalization by recovering depth and poses in a single forward pass. However, these models are typically constrained by a global coordinate frame assumption. This…

Vision and language navigation is a task that requires an agent to navigate according to a natural language instruction. Recent methods predict sub-goals on constructed topology map at each step to enable long-term action planning. However,…

Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded during robot-object interaction, high-resolution tactile sensors…

Establishing dense correspondence across 3D shapes is crucial for fundamental downstream tasks, including texture transfer, shape interpolation, and robotic manipulation. However, learning these mappings without manual supervision remains a…

Autonomous mobile robots operating in human-shared indoor environments often require paths that reflect human spatial intentions, such as avoiding interference with pedestrian flow or maintaining comfortable clearance. However, conventional…

While 2D occupancy maps commonly used in mobile robotics enable safe navigation in indoor environments, in order for robots to understand and interact with their environment and its inhabitants representing 3D geometry and semantic…

In Global Navigation Satellite System (GNSS)-denied environments such as indoor parking structures or dense urban canyons, achieving accurate and robust vehicle positioning remains a significant challenge. This paper proposes a…

Large-scale vector mapping is important for transportation, city planning, and survey and census. We propose GraphMapper, a unified framework for end-to-end vector map extraction from satellite images. Our key idea is a novel unified…

Interactive point-based image editing serves as a controllable editor, enabling precise and flexible manipulation of image content. However, most drag-based methods operate primarily on the 2D pixel plane with limited use of 3D cues. As a…

Cost Surfaces are a quantitative means of assigning social, environmental, and engineering costs that impact movement across landscapes. Cost surfaces are a crucial aspect of route optimization and least cost path (LCP) calculations and are…