相关论文: JRDB-PanoTrack: An Open-world Panoptic Segmentatio…

This paper presents DriveTrack, a new benchmark and data generation framework for long-range keypoint tracking in real-world videos. DriveTrack is motivated by the observation that the accuracy of state-of-the-art trackers depends strongly…

Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

An accurate understanding of a self-driving vehicle's surrounding environment is crucial for its navigation system. To enhance the effectiveness of existing algorithms and facilitate further research, it is essential to provide…

Visual navigation using only a single camera and a topological map has recently become an appealing alternative to methods that require additional sensors and 3D maps. This is typically achieved through an "image-relative" approach to…

This paper presents to the best of our knowledge the first end-to-end object tracking approach which directly maps from raw sensor input to object tracks in sensor space without requiring any feature engineering or system identification in…

Creating computer vision datasets requires careful planning and lots of time and effort. In robotics research, we often have to use standardized objects, such as the YCB object set, for tasks such as object tracking, pose estimation,…

Animal habitat surveys play a critical role in preserving the biodiversity of the land. One of the effective ways to gain insights into animal habitats involves identifying animal footprints, which offers valuable information about species…

When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot are the most difficult to predict. This paper investigates…

Being able to explore an environment and understand the location and type of all objects therein is important for indoor robotic platforms that must interact closely with humans. However, it is difficult to evaluate progress in this area…

Monocular 3D object detection plays a crucial role in autonomous driving. However, existing monocular 3D detection algorithms depend on 3D labels derived from LiDAR measurements, which are costly to acquire for new datasets and challenging…

In this work, we introduce panoramic panoptic segmentation as the most holistic scene understanding both in terms of field of view and image level understanding for standard camera based input. A complete surrounding understanding provides…

Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but…

We describe a challenging robotics deployment in a complex ecosystem to monitor a rich plant community. The study site is dominated by dynamic grassland vegetation and is thus visually ambiguous and liable to drastic appearance change over…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego…

Detection and segmentation of moving obstacles, along with prediction of the future occupancy states of the local environment, are essential for autonomous vehicles to proactively make safe and informed decisions. In this paper, we propose…

Collaborative perception in unknown environments is crucial for multi-robot systems. With the emergence of foundation models, robots can now not only perceive geometric information but also achieve open-vocabulary scene understanding.…

Unmanned Aerial Vehicles (UAVs) are of crucial importance in search and rescue missions in maritime environments due to their flexible and fast operation capabilities. Modern computer vision algorithms are of great interest in aiding such…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…