相关论文: DiaLoc: An Iterative Approach to Embodied Dialog L…

Reliable localization is critical for robot navigation, yet most existing systems implicitly assume that all viewing directions at a location are equally informative. In practice, localization becomes unreliable when the robot observes…

The visual camera is an attractive device in beyond visual line of sight (B-VLOS) drone operation, since they are low in size, weight, power, and cost, and can provide redundant modality to GPS failures. However, state-of-the-art visual…

Indoor relocalization is vital for both robotic tasks like autonomous exploration and civil applications such as navigation with a cell phone in a shopping mall. Some previous approaches adopt geometrical information such as key-point…

The demand for multimodal dialogue systems has been rising in various domains, emphasizing the importance of interpreting multimodal inputs from conversational and situational contexts. We explore three methods to tackle this problem and…

We address the challenging task of Localization via Embodied Dialog (LED). Given a dialog from two agents, an Observer navigating through an unknown environment and a Locator who is attempting to identify the Observer's location, the goal…

Camera relocalization, a cornerstone capability of modern computer vision, accurately determines a camera's position and orientation (6-DoF) from images and is essential for applications in augmented reality (AR), mixed reality (MR),…

This technical report introduces CyberLoc, an image-based visual localization pipeline for robust and accurate long-term pose estimation under challenging conditions. The proposed method comprises four modules connected in a sequence.…

Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…

LiDAR relocalization aims to estimate the global 6-DoF pose of a sensor in the environment. However, existing regression-based approaches are prone to dynamic or ambiguous scenarios, as they either solely rely on single-frame inference or…

We present Where Are You? (WAY), a dataset of ~6k dialogs in which two humans -- an Observer and a Locator -- complete a cooperative localization task. The Observer is spawned at random in a 3D environment and can navigate from first-person…

Situated embodied conversation requires robots to interleave real-time dialogue with active perception: deciding what to look at, when to look, and what to say under tight latency constraints. We present a simple, minimal system recipe that…

Camera relocalization is pivotal in computer vision, with applications in AR, drones, robotics, and autonomous driving. It estimates 3D camera position and orientation (6-DoF) from images. Unlike traditional methods like SLAM, recent…

Localization is a critical technology for various applications ranging from navigation and surveillance to assisted living. Localization systems typically fuse information from sensors viewing the scene from different perspectives to…

Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…

Visual (re)localization is critical for various applications in computer vision and robotics. Its goal is to estimate the 6 degrees of freedom (DoF) camera pose for each query image, based on a set of posed database images. Currently, all…

Recent efforts on training visual navigation agents conditioned on language using deep reinforcement learning have been successful in learning policies for different multimodal tasks, such as semantic goal navigation and embodied question…

In this overview paper, data-driven learning model-based cooperative localization and location data processing are considered, in line with the emerging machine learning and big data methods. We first review (1) state-of-the-art algorithms…

With the growth of location-based services, indoor localization is attracting great interests as it facilitates further ubiquitous environments. Specifically, device free localization using wireless signals is getting increased attention as…

Multimodal intelligence development recently show strong progress in visual understanding and high level reasoning. Though, most reasoning system still reply on textual information as the main medium for inference. This limit their…

Building a general-purpose intelligent home-assistant agent skilled in diverse tasks by human commands is a long-term blueprint of embodied AI research, which poses requirements on task planning, environment modeling, and object…