相关论文: OmniNxt: A Fully Open-source and Compact Aerial Ro…
During teleoperation of a mobile robot, providing good operator situation awareness is a major concern as a single mistake can lead to mission failure. Camera streams are widely used for teleoperation but offer limited field-of-view. In…
The deployment of humanoid robots for dexterous manipulation in unstructured environments remains challenging due to perceptual limitations that constrain the effective workspace. In scenarios where physical constraints prevent the robot…
Language-guided embodied navigation requires an agent to interpret object-referential instructions, search across multiple rooms, localize the referenced target, and execute reliable motion toward it. Existing systems remain limited in real…
Panoramic imagery, with its 360{\deg} field of view, offers comprehensive information to support Multi-Object Tracking (MOT) in capturing spatial and temporal relationships of surrounding objects. However, most MOT algorithms are tailored…
Obstacle avoidance in unmanned aerial vehicles (UAVs), as a fundamental capability, has gained increasing attention with the growing focus on spatial intelligence. However, current obstacle-avoidance methods mainly depend on limited…
As virtual reality gains popularity, the demand for controllable creation of immersive and dynamic omnidirectional videos (ODVs) is increasing. While previous text-to-ODV generation methods achieve impressive results, they struggle with…
The field of 360-degree omnidirectional understanding has been receiving increasing attention for advancing spatial intelligence. However, the lack of large-scale and diverse data remains a major limitation. In this work, we propose…
Embodied navigation presents a core challenge for intelligent robots, requiring the comprehension of visual environments, natural language instructions, and autonomous exploration. Existing models often fall short in offering a unified…
In this paper we describe the Open Vision Computer (OVC) which was designed to support high speed, vision guided autonomous drone flight. In particular our aim was to develop a system that would be suitable for relatively small-scale flying…
Omnidirectional and 360{\deg} images are becoming widespread in industry and in consumer society, causing omnidirectional computer vision to gain attention. Their wide field of view allows the gathering of a great amount of information…
In this work, we introduce OmniDrones, an efficient and flexible platform tailored for reinforcement learning in drone control, built on Nvidia's Omniverse Isaac Sim. It employs a bottom-up design approach that allows users to easily design…
Robotic systems demand accurate and comprehensive 3D environment perception, requiring simultaneous capture of photo-realistic appearance (optical), precise layout shape (geometric), and open-vocabulary scene understanding (semantic).…
Teams of flying robots can be used for inspection, delivery, and construction tasks, in which they might be required to fly very close to each other. In such close-proximity cases, nonlinear aerodynamic effects can cause catastrophic…
Prior approaches injecting camera control into diffusion models have focused on specific subsets of 4D consistency tasks: novel view synthesis, text-to-video with camera control, image-to-video, amongst others. Therefore, these fragmented…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
Omnidirectional MAVs are a growing field, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a…
Decentralized state estimation is one of the most fundamental components of autonomous aerial swarm systems in GPS-denied areas yet it still remains a highly challenging research topic. Omni-swarm, a decentralized omnidirectional…
Omnidirectional 360{\deg} camera proliferates rapidly for autonomous robots since it significantly enhances the perception ability by widening the field of view(FoV). However, corresponding 360{\deg} depth sensors, which are also critical…
In this paper, we present an omnidirectional localization and dense mapping system for a wide-baseline multiview stereo setup with ultra-wide field-of-view (FOV) fisheye cameras, which has a 360 degrees coverage of stereo observations of…
Panoramic imagery provides holistic 360{\deg} visual coverage for perception in quadruped robots. However, existing occupancy prediction methods are mainly designed for wheeled autonomous driving and rely heavily on RGB cues, limiting their…