相关论文: Hydra-Multi: Collaborative Online Construction of …

Open-vocabulary 3D scene understanding is indispensable for embodied agents. Recent works leverage pretrained vision-language models (VLMs) for object segmentation and project them to point clouds to build 3D maps. Despite progress, a point…

Mobile robots extract information from its environment to understand their current situation to enable intelligent decision making and autonomous task execution. In our previous work, we introduced the concept of Situation Graphs (S-Graphs)…

Aligning 3D scene graphs is a crucial initial step for several applications in robot navigation and embodied perception. Current methods in 3D scene graph alignment often rely on single-modality point cloud data and struggle with incomplete…

Building 3D maps of the environment is central to robot navigation, planning, and interaction with objects in a scene. Most existing approaches that integrate semantic concepts with 3D maps largely remain confined to the closed-set setting:…

Modern 3D semantic scene graph estimation methods utilize ground truth 3D annotations to accurately predict target objects, predicates, and relationships. In the absence of given 3D ground truth representations, we explore leveraging only…

Outdoor intelligent autonomous robotic operation relies on a sufficiently expressive map of the environment. Classical geometric mapping methods retain essential structural environment information, but lack a semantic understanding and…

Identifying objects in an image and their mutual relationships as a scene graph leads to a deep understanding of image content. Despite the recent advancement in deep learning, the detection and labeling of visual object relationships…

This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…

Vehicle-to-Vehicle technologies have enabled autonomous vehicles to share information to see through occlusions, greatly enhancing perception performance. Nevertheless, existing works all focused on homogeneous traffic where vehicles are…

Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…

3D scene flow characterizes how the points at the current time flow to the next time in the 3D Euclidean space, which possesses the capacity to infer autonomously the non-rigid motion of all objects in the scene. The previous methods for…

In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…

Multi-robot systems (MRS) rely on exchanging raw sensory data to cooperate in complex three-dimensional (3D) environments. However, this strategy often leads to severe communication congestion and high transmission latency, significantly…

Despite the impressive progress of telepresence systems for room-scale scenes with static and dynamic scene entities, expanding their capabilities to scenarios with larger dynamic environments beyond a fixed size of a few square-meters…

Robots typically possess sensors of different modalities, such as colour cameras, inertial measurement units, and 3D laser scanners. Often, solving a particular problem becomes easier when more than one modality is used. However, while…

Holistic 3D scene understanding involves capturing and parsing unstructured 3D environments. Due to the inherent complexity of the real world, existing models have predominantly been developed and limited to be task-specific. We introduce…

We present a solution to multi-robot distributed semantic mapping of novel and unfamiliar environments. Most state-of-the-art semantic mapping systems are based on supervised learning algorithms that cannot classify novel observations…

3D scene understanding is a long-standing challenge in computer vision and a key component in enabling mixed reality, wearable computing, and embodied AI. Providing a solution to these applications requires a multifaceted approach that…

This paper introduces a novel deep learning-based multimodal fusion architecture aimed at enhancing the perception capabilities of autonomous navigation robots in complex environments. By utilizing innovative feature extraction modules,…

Scene graph aims to faithfully reveal humans' perception of image content. When humans analyze a scene, they usually prefer to describe image gist first, namely major objects and key relations in a scene graph. This humans' inherent…