相关论文: Fisher Information Field: an Efficient and Differe…

In the realm of deep learning, the Fisher information matrix (FIM) gives novel insights and useful tools to characterize the loss landscape, perform second-order optimization, and build geometric learning theories. The exact FIM is either…

Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…

Humans can orient themselves in their 3D environments using simple 2D maps. Differently, algorithms for visual localization mostly rely on complex 3D point clouds that are expensive to build, store, and maintain over time. We bridge this…

Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…

This paper is concerned with finding an optimal path for an observer, or sensor, moving at a constant speed, which is to estimate the position of a stationary target, using only bearing angle measurements. The generated path is optimal in…

Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…

Spectroscopy detected in the time domain entails many techniques, such as FTIR, pump-probe, FT-Raman, and 2DES, and applications, such as molecule characterization, excited state dynamics studies, or spectra classifications. Surprisingly,…

This work presents a technique for localization of a smart infrastructure node, consisting of a fisheye camera, in a prior map. These cameras can detect objects that are outside the line of sight of the autonomous vehicles (AV) and send…

In this paper we describe a framework towards computing well-localized, robust motion plans through the perception-aware motion planning problem, whereby we seek a low-cost motion plan subject to a separate constraint on perception…

Part-based approaches for fine-grained recognition do not show the expected performance gain over global methods, although explicitly focusing on small details that are relevant for distinguishing highly similar classes. We assume that…

Feed-forward 3D reconstruction models, represented by Visual Geometry Grounded Transformer (VGGT), jointly predict multiple visual geometry tasks such as depth estimation, camera pose prediction, and point cloud reconstruction in a single…

Visual localization is a key technique to a variety of applications, e.g., autonomous driving, AR/VR, and robotics. For these real applications, both efficiency and accuracy are important especially on edge devices with limited computing…

The next generation of large-scale spectroscopic survey experiments such as DESI, will use thousands of fiber positioner robots packed on a focal plate. In order to maximize the observing time with this robotic system we need to move in…

Top-down methods dominate the field of 3D human pose and shape estimation, because they are decoupled from human detection and allow researchers to focus on the core problem. However, cropping, their first step, discards the location…

In 5G communication, arrays are used for both positioning and communication. As the arrays become larger, the far-field assumption is increasingly being violated and curvature of the wavefront should be taken into account. We explicitly…

Diffusion models are effective for waypoint prediction in visual navigation, but standard sampling and test time guidance can produce unreliable or inefficient trajectories when updates drift off the training manifold. We propose Fisher…

Enabling robots to autonomously discover high-level spatial concepts (e.g., rooms and walls) from primitive geometric observations (e.g., planar surfaces) within 3D Scene Graphs is essential for robust indoor navigation and mapping. These…

Being able to explore unknown environments is a requirement for fully autonomous robots. Many learning-based methods have been proposed to learn an exploration strategy. In the frontier-based exploration, learning algorithms tend to learn…

We propose a novel visual localization and navigation framework for real-world environments directly integrating observed visual information into the bird-eye-view map. While the renderable neural radiance map (RNR-Map) shows considerable…

We consider the task of underwater robot navigation for the purpose of collecting scientifically relevant video data for environmental monitoring. The majority of field robots that currently perform monitoring tasks in unstructured natural…