相关论文: Visual Navigation Using Sparse Optical Flow and Ti…
We introduce OpenVO, a novel framework for Open-world Visual Odometry (VO) with temporal awareness under limited input conditions. OpenVO effectively estimates real-world-scale ego-motion from monocular dashcam footage with varying…
Vision-based localization in a prior map is of crucial importance for autonomous vehicles. Given a query image, the goal is to estimate the camera pose corresponding to the prior map, and the key is the registration problem of camera images…
Recent advances in text-to-video generation have demonstrated the utility of powerful diffusion models. Nevertheless, the problem is not trivial when shaping diffusion models to animate static image (i.e., image-to-video generation). The…
Synthesizing novel views of dynamic humans from stationary monocular cameras is a specialized but desirable setup. This is particularly attractive as it does not require static scenes, controlled environments, or specialized capture…
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…
Visual navigation in robotics traditionally relies on globally-consistent 3D maps or learned controllers, which can be computationally expensive and difficult to generalize across diverse environments. In this work, we present a novel…
Vision-and-Language Navigation (VLN) is a challenging task where an agent is required to navigate to a natural language described location via vision observations. The navigation abilities of the agent can be enhanced by the relations…
Navigating unfamiliar environments presents significant challenges for household robots, requiring the ability to recognize and reason about novel decoration and layout. Existing reinforcement learning methods cannot be directly transferred…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
Although mobile robots have on-board sensors to perform navigation, their efficiency in completing paths can be enhanced by planning to avoid human interaction. Infrastructure cameras can capture human activity continuously for the purpose…
While deep learning surpasses human-level performance in narrow and specific vision tasks, it is fragile and over-confident in classification. For example, minor transformations in perspective, illumination, or object deformation in the…
While imitation learning for vision based autonomous mobile robot navigation has recently received a great deal of attention in the research community, existing approaches typically require state action demonstrations that were gathered…
Navigation is believed to be controlled by at least two partially dissociable systems in the brain. The cognitive map informs an organism of its location and bearing, updated by integrating vestibular self-motion or predicting distances to…
Target-driven visual navigation aims at navigating an agent towards a given target based on the observation of the agent. In this task, it is critical to learn informative visual representation and robust navigation policy. Aiming to…
Foresighted robot navigation in dynamic indoor environments with cost-efficient hardware necessitates the use of a lightweight yet dependable controller. So inferring the scene dynamics from sensor readings without explicit object tracking…
When driving, people make decisions based on current traffic as well as their desired route. They have a mental map of known routes and are often able to navigate without needing directions. Current self-driving models improve their…
Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…
Visual querying is essential for interactively exploring massive trajectory data. However, the data uncertainty imposes profound challenges to fulfill advanced analytics requirements. On the one hand, many underlying data does not contain…
This paper proposes a novel learning-based control policy with strong generalizability to new environments that enables a mobile robot to navigate autonomously through spaces filled with both static obstacles and dense crowds of…
In autonomous driving and robotics, there is a growing interest in utilizing short-term historical data to enhance multi-camera 3D object detection, leveraging the continuous and correlated nature of input video streams. Recent work has…