相关论文: Floor-Plan-aided Indoor Localization: Zero-Shot Le…

Indoor navigation remains a complex challenge due to the absence of reliable GPS signals and the architectural intricacies of large enclosed environments. This study presents an indoor localization and navigation approach that integrates…

Object-based maps are relevant for scene understanding since they integrate geometric and semantic information of the environment, allowing autonomous robots to robustly localize and interact with on objects. In this paper, we address the…

This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…

Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…

We introduce the isoperimetric loss as a regularization criterion for learning the map from a visual representation to a semantic embedding, to be used to transfer knowledge to unknown classes in a zero-shot learning setting. We use a…

In this report we present an unsupervised image registration framework, using a pre-trained deep neural network as a feature extractor. We refer this to zero-shot learning, due to nonoverlap between training and testing dataset (none of the…

This study describes a UWB and Machine Learning (ML)-based indoor positioning system. We propose a simple mathematical strategy to create data to reduce the job of measurements for fingerprint-based indoor localization systems. A…

In this work we study indoor scene object placement. Given a 3D indoor scene and an object, the task is to predict placement locations within the scene. Empirical observations of data-driven approaches to the problem show their tendency to…

In this paper we propose an efficient data-driven solution to self-localization within a floorplan. Floorplan data is readily available, long-term persistent and inherently robust to changes in the visual appearance. Our method does not…

Spectrum cartography constructs maps of metrics such as channel gain or received signal power across a geographic area of interest using spatially distributed sensor measurements. Applications of these maps include network planning,…

Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarchy of semantic entities and their relationships, and can be…

In this paper, we propose an indoor localization system employing ordered sequence of access points (APs) based on received signal strength (RSS). Unlike existing indoor localization systems, our approach does not require any time-consuming…

This paper considers the problem of learning a control policy for robot motion planning with zero-shot generalization, i.e., no data collection and policy adaptation is needed when the learned policy is deployed in new environments. We…

Zero-shot learning (ZSL) for image classification focuses on recognizing novel categories that have no labeled data available for training. The learning is generally carried out with the help of mid-level semantic descriptors associated…

We present a novel framework for floor plan-based, full six degree-of-freedom LiDAR localization. Our approach relies on robust ceiling and ground plane detection, which solves part of the pose and supports the segmentation of vertical…

Given semantic descriptions of object classes, zero-shot learning aims to accurately recognize objects of the unseen classes, from which no examples are available at the training stage, by associating them to the seen classes, from which…

This study introduces SpatialPrompting, a novel framework that harnesses the emergent reasoning capabilities of off-the-shelf multimodal large language models to achieve zero-shot spatial reasoning in three-dimensional (3D) environments.…

Indoor localization in GPS-denied environments is crucial for applications like emergency response and assistive navigation. Vision-based methods such as PALMS enable infrastructure-free localization using only a floor plan and a stationary…

A modern paradigm for generalization in machine learning and AI consists of pre-training a task-agnostic foundation model, generally obtained using self-supervised and multimodal contrastive learning. The resulting representations can be…

A common problem with most zero and few-shot learning approaches is they suffer from bias towards seen classes resulting in sub-optimal performance. Existing efforts aim to utilize unlabeled images from unseen classes (i.e transductive…