相关论文: Learning High-level Semantic-Relational Concepts f…

Vision-and-Language Navigation (VLN) requires an agent to navigate in a real-world environment following natural language instructions. From both the textual and visual perspectives, we find that the relationships among the scene, its…

Path planning is a basic capability of autonomous mobile robots. Former approaches in path planning exploit only the given geometric information from the environment without leveraging the inherent semantics within the environment. The…

Semantic mapping is the task of providing a robot with a map of its environment beyond the open, navigable space of traditional Simultaneous Localization and Mapping (SLAM) algorithms by attaching semantics to locations. The system…

Relational data stored in RDBMS is foundational to many real-world applications across domains such as e-commerce, finance, and sociality. While deep neural networks (DNNs) have achieved strong performance on tabular data with a single…

Panorama images have a much larger field-of-view thus naturally encode enriched scene context information compared to standard perspective images, which however is not well exploited in the previous scene understanding methods. In this…

3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…

In this paper, we consider the problem of planar graph-based simultaneous localization and mapping (SLAM) that involves both poses of the autonomous agent and positions of observed landmarks. We present CPL-SLAM, an efficient and…

This paper presents a semantic planar SLAM system that improves pose estimation and mapping using cues from an instance planar segmentation network. While the mainstream approaches are using RGB-D sensors, employing a monocular camera with…

The objective of pose SLAM or pose-graph optimization (PGO) is to estimate the trajectory of a robot given odometric and loop closing constraints. State-of-the-art iterative approaches typically involve the linearization of a non-convex…

We propose a novel online learning algorithm, called SpCoSLAM 2.0, for spatial concepts and lexical acquisition with high accuracy and scalability. Previously, we proposed SpCoSLAM as an online learning algorithm based on unsupervised…

SLAM is a fundamental component of modern autonomous systems, providing robots and their operators with a deeper understanding of their environment. SLAM systems often encounter challenges due to the dynamic nature of robotic motion,…

Scene graph is structured semantic representation that can be modeled as a form of graph from images and texts. Image-based scene graph generation research has been actively conducted until recently, whereas text-based scene graph…

Recent advances in metric, semantic, and topological mapping have equipped autonomous robots with semantic concept grounding capabilities to interpret natural language tasks. This work aims to leverage these new capabilities with an…

Recognition of floor plans has been a challenging and popular task. Despite that many recent approaches have been proposed for this task, they typically fail to make the room-level unified prediction. Specifically, multiple semantic…

Recent works on form understanding mostly employ multimodal transformers or large-scale pre-trained language models. These models need ample data for pre-training. In contrast, humans can usually identify key-value pairings from a form only…

We address the problem of phrase grounding by lear ing a multi-level common semantic space shared by the textual and visual modalities. We exploit multiple levels of feature maps of a Deep Convolutional Neural Network, as well as…

We propose Hier-SLAM, a semantic 3D Gaussian Splatting SLAM method featuring a novel hierarchical categorical representation, which enables accurate global 3D semantic mapping, scaling-up capability, and explicit semantic label prediction…

In search and rescue missions, time is an important factor; fast navigation and quickly acquiring situation awareness might be matters of life and death. Hence, the use of robots in such scenarios has been restricted by the time needed to…

Accurate localization and mapping in outdoor environments remains challenging when using consumer-grade hardware, particularly with rolling-shutter cameras and low-precision inertial navigation systems (INS). We present a novel semantic…

While large language models (LLMs) have made significant progress in processing and reasoning over knowledge graphs, current methods suffer from a high non-retrieval rate. This limitation reduces the accuracy of answering questions based on…