相关论文: Object Localization Assistive System Based on CV a…

This paper presents AIDEN, an artificial intelligence-based assistant designed to enhance the autonomy and daily quality of life of visually impaired individuals, who often struggle with object identification, text reading, and navigation…

Embodied intelligence fundamentally requires a capability to determine where to act in 3D space. We formalize this requirement as embodied localization -- the problem of predicting executable 3D points conditioned on visual observations and…

Smart assistive technologies such as sensor-based footwear and walking aids offer promising opportunities for gait rehabilitation through real-time feedback and patient-centered monitoring. While biofeedback applications show great…

This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human…

Exactly estimating and tracking the motion of surrounding dynamic objects is one of important tasks for the autonomy of a quadruped manipulator. However, with only an onboard RGB camera, it is still a challenging work for a quadruped…

A crucial ability of mobile intelligent agents is to integrate the evidence from multiple sensory inputs in an environment and to make a sequence of actions to reach their goals. In this paper, we attempt to approach the problem of…

The reliance on language in Vision-Language-Action (VLA) models introduces ambiguity, cognitive overhead, and difficulties in precise object identification and sequential task execution, particularly in environments with multiple visually…

We describe a method for performing active localization of objects in instances of visual situations. A visual situation is an abstract concept---e.g., "a boxing match", "a birthday party", "walking the dog", "waiting for a bus"---whose…

Object referring has important applications, especially for human-machine interaction. While having received great attention, the task is mainly attacked with written language (text) as input rather than spoken language (speech), which is…

Blind and visually challenged face multiple issues with navigating the world independently. Some of these challenges include finding the shortest path to a destination and detecting obstacles from a distance. To tackle this issue, this…

We introduce SonoHaptics, an audio-haptic cursor for gaze-based 3D object selection. SonoHaptics addresses challenges around providing accurate visual feedback during gaze-based selection in Extended Reality (XR), e.g., lack of world-locked…

VR/AR technology is a key enabler for new ways of immersively experiencing cultural heritage artifacts based on their virtual counterparts obtained from a digitization process. In this paper, we focus on enriching VR-based object inspection…

Weakly supervised object detection aims at learning precise object detectors, given image category labels. In recent prevailing works, this problem is generally formulated as a multiple instance learning module guided by an image…

To be useful in everyday environments, robots must be able to identify and locate real-world objects. In recent years, video object segmentation has made significant progress on densely separating such objects from background in real and…

Visual grounding is a task to locate the target indicated by a natural language expression. Existing methods extend the generic object detection framework to this problem. They base the visual grounding on the features from pre-generated…

Effective visual accessibility in Virtual Reality (VR) is crucial for Blind and Low Vision (BLV) users. However, designing visual accessibility systems is challenging due to the complexity of 3D VR environments and the need for techniques…

Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map…

Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…

Most existing assistive navigation tools focus on providing real-time guidance for Blind and Low-Vision (BLV) people, but few support building a holistic spatial understanding of unfamiliar environments before travel. Such cognitive map…

We study the problem of object retrieval in scenarios where visual sensing is absent, object shapes are unknown beforehand and objects can move freely, like grabbing objects out of a drawer. Successful solutions require localizing free…