相关论文: A Landmark-Aware Visual Navigation Dataset

Robust localization is the cornerstone of autonomous driving, especially in challenging urban environments where GPS signals suffer from multipath errors. Traditional localization approaches rely on high-definition (HD) maps, which consist…

We present a vehicle self-localization method using point-based deep neural networks. Our approach processes measurements and point features, i.e. landmarks, from a high-definition digital map to infer the vehicle's pose. To learn the best…

This paper addresses the problem of building augmented metric representations of scenes with semantic information from RGB-D images. We propose a complete framework to create an enhanced map representation of the environment with…

The dominant paradigm for training Large Vision-Language Models (LVLMs) in navigation relies on imitating expert trajectories. This approach reduces the complex navigation task to a sequence-to-sequence replication of a single correct path,…

3D facial landmark localization has proven to be of particular use for applications, such as face tracking, 3D face modeling, and image-based 3D face reconstruction. In the supervised learning case, such methods usually rely on 3D landmark…

In Vision-and-Language Navigation (VLN), an embodied agent needs to reach a target destination with the only guidance of a natural language instruction. To explore the environment and progress towards the target location, the agent must…

Autonomous driving needs various line-of-sight sensors to perceive surroundings that could be impaired under diverse environment uncertainties such as visual occlusion and extreme weather. To improve driving safety, we explore to wirelessly…

360 video captures the complete surrounding scenes with the ultra-large field of view of 360X180. This makes 360 scene understanding tasks, eg, segmentation and tracking, crucial for appications, such as autonomous driving, robotics. With…

Passive tracking methods, such as phone and wearable sensing, have become dominant in monitoring human behaviors in modern ubiquitous computing studies. While there have been significant advances in machine-learning approaches to translate…

Anatomical landmarks are a crucial prerequisite for many medical imaging tasks. Usually, the set of landmarks for a given task is predefined by experts. The landmark locations for a given image are then annotated manually or via machine…

Learning to follow instructions is of fundamental importance to autonomous agents for vision-and-language navigation (VLN). In this paper, we study how an agent can navigate long paths when learning from a corpus that consists of shorter…

We introduce DialNav, a novel collaborative embodied dialog task, where a navigation agent (Navigator) and a remote guide (Guide) engage in multi-turn dialog to reach a goal location. Unlike prior work, DialNav aims for holistic evaluation…

This work focuses on object goal visual navigation, aiming at finding the location of an object from a given class, where in each step the agent is provided with an egocentric RGB image of the scene. We propose to learn the agent's policy…

With the rise of automation, unmanned vehicles became a hot topic both as commercial products and as a scientific research topic. It composes a multi-disciplinary field of robotics that encompasses embedded systems, control theory, path…

Humans use their knowledge of common house layouts obtained from previous experiences to predict nearby rooms while navigating in new environments. This greatly helps them navigate previously unseen environments and locate their target…

The key prerequisite for accessing the huge potential of current machine learning techniques is the availability of large databases that capture the complex relations of interest. Previous datasets are focused on either 3D scene…

A key requirement for leveraging supervised deep learning methods is the availability of large, labeled datasets. Unfortunately, in the context of RGB-D scene understanding, very little data is available -- current datasets cover a small…

Real-world deployment of Vision-and-Language Navigation (VLN) agents is constrained by the scarcity of reliable supervision after offline training. While recent adaptation methods attempt to mitigate distribution shifts via…

Service robots are increasingly deployed in diverse and dynamic environments, where both physical layouts and social contexts change over time and across locations. In these unstructured settings, conventional navigation systems that rely…

Lifelong embodied navigation requires agents to accumulate, retain, and exploit spatial-semantic experience across tasks, enabling efficient exploration in novel environments and rapid goal reaching in familiar ones. While object-centric…