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OpenStreetMap (OSM), a rich and versatile source of volunteered geographic information (VGI), facilitates human self-localization and scene understanding by integrating nearby visual observations with vectorized map data. However, the…
Humans excel at forming mental maps of their surroundings, equipping them to understand object relationships and navigate based on language queries. Our previous work, SI Maps (Nanwani L, Agarwal A, Jain K, et al. Instance-level semantic…
The wide acceptance of large language models (LLMs) has unlocked new applications and social risks. Popular countermeasures aim at detecting misinformation, usually involve domain specific models trained to recognize the relevance of any…
Natural language interfaces to embodied AI are becoming more ubiquitous in our daily lives. This opens up further opportunities for language-based interaction with embodied agents, such as a user verbally instructing an agent to execute…
How can we build general-purpose robot systems for open-world semantic navigation, e.g., searching a novel environment for a target object specified in natural language? To tackle this challenge, we introduce OSG Navigator, a modular system…
OpenStreetMap (OSM), a collaborative, crowdsourced Web map, is a unique source of openly available worldwide map data, increasingly adopted in Web applications. Vandalism detection is a critical task to support trust and maintain OSM…
Reliable global localization is critical for autonomous vehicles, especially in environments where GNSS is degraded or unavailable, such as urban canyons and tunnels. Although high-definition (HD) maps provide accurate priors, the cost of…
Monocular re-localization plays a crucial role in enabling intelligent agents to achieve human-like perception. However, traditional methods rely on dense maps, which face scalability limitations and privacy risks. OpenStreetMap (OSM), as a…
Road network data provides rich information about cities, but processing worldwide OpenStreetMap (OSM) data is computationally intensive, and the resulting graphs are often difficult to unify for benchmarking downstream tasks. Existing…
Robots deployed in real-world environments, such as homes, must not only navigate safely but also understand their surroundings and adapt to changes in the environment. To perform tasks efficiently, they must build and maintain a semantic…
Large language models (LLMs) have unlocked new capabilities of task planning from human instructions. However, prior attempts to apply LLMs to real-world robotic tasks are limited by the lack of grounding in the surrounding scene. In this…
We introduce DualMap, an online open-vocabulary mapping system that enables robots to understand and navigate dynamically changing environments through natural language queries. Designed for efficient semantic mapping and adaptability to…
This chapter introduces OpenStreetMap - a crowd-sourced, worldwide mapping project and geospatial data repository - to illustrate its usefulness in quickly and easily analyzing and visualizing planning and design outcomes in the built…
Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features, achieving a high level of detail and guiding robots to find objects specified by open-vocabulary language queries. While the…
Creating robots that can assist in farms and gardens can help reduce the mental and physical workload experienced by farm workers. We tackle the problem of object search in a farm environment, providing a method that allows a robot to…
Despite concrete indicators and targets, monitoring the progress of the UN Sustainable Development Goals (SDGs) remains a challenge, given the many different actors, initiatives, and institutions involved. OSDG, an open-source…
Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the ability to segment and identify nearly all objects in the…
We present an Open-Vocabulary 3D Scene Graph (OVSG), a formal framework for grounding a variety of entities, such as object instances, agents, and regions, with free-form text-based queries. Unlike conventional semantic-based object…
Navigation services utilized by autonomous vehicles or ordinary users require the availability of detailed information about road-related objects and their geolocations, especially at road intersections. However, these road intersections…
Visually recognising a traversed route - regardless of whether seen during the day or night, in clear or inclement conditions, or in summer or winter - is an important capability for navigating robots. Since SeqSLAM was introduced in 2012,…