相关论文: Visual Navigation Using Sparse Optical Flow and Ti…

This paper introduces a novel architecture for trajectory-conditioned forecasting of future 3D scene occupancy. In contrast to methods that rely on variational autoencoders (VAEs) to generate discrete occupancy tokens, which inherently…

The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…

Time-to-contact (TTC), the time for an object to collide with the observer's plane, is a powerful tool for path planning: it is potentially more informative than the depth, velocity, and acceleration of objects in the scene -- even for…

We present Nav2Goal, a data-efficient and end-to-end learning method for goal-conditioned visual navigation. Our technique is used to train a navigation policy that enables a robot to navigate close to sparse geographic waypoints provided…

Optical cameras are gaining popularity as the suitable sensor for relative navigation in space due to their attractive sizing, power and cost properties when compared to conventional flight hardware or costly laser-based systems. However, a…

This paper focuses on visual motion-based invariants that result in a representation of 3D points in which the stationary environment remains invariant, ensuring shape constancy. This is achieved even as the images undergo constant change…

This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…

Semantic cues and statistical regularities in real-world environment layouts can improve efficiency for navigation in novel environments. This paper learns and leverages such semantic cues for navigating to objects of interest in novel…

Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models to localize robots and build maps simultaneously using…

Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…

Autonomously navigating a robot in everyday crowded spaces requires solving complex perception and planning challenges. When using only monocular image sensor data as input, classical two-dimensional planning approaches cannot be used.…

Efficient point-to-point navigation in the presence of a background flow field is important for robotic applications such as ocean surveying. In such applications, robots may only have knowledge of their immediate surroundings or be faced…

Efficient target localization and autonomous navigation in complex environments are fundamental to real-world embodied applications. While recent advances in multimodal foundation models have enabled zero-shot object goal navigation,…

By building and updating internal cognitive maps, animals exhibit extraordinary navigation abilities in complex, dynamic environments. Inspired by these biological mechanisms, we present a real time robotic navigation system grounded in the…

Given an object of interest, visual navigation aims to reach the object's location based on a sequence of partial observations. To this end, an agent needs to 1) learn a piece of certain knowledge about the relations of object categories in…

Deploying autonomous agents in real world environments is challenging, particularly for navigation, where systems must adapt to situations they have not encountered before. Traditional learning approaches require substantial amounts of…

In this paper, we compare different map management techniques for long-term visual navigation in changing environments. In this scenario, the navigation system needs to continuously update and refine its feature map in order to adapt to the…

LiDAR scene flow estimation is essential for autonomous driving, as it provides 3D motion for each point. Self-supervised approaches use static-dynamic classification to mitigate the imbalance between static and dynamic points, deriving…

Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…

Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…