相关论文: GOMAA-Geo: GOal Modality Agnostic Active Geo-local…

This paper studies the problem of image-goal navigation which involves navigating to the location indicated by a goal image in a novel previously unseen environment. To tackle this problem, we design topological representations for space…

UAVs have been widely used in visual inspections of buildings, bridges and other structures. In either outdoor autonomous or semi-autonomous flights missions strong GPS signal is vital for UAV to locate its own positions. However, strong…

This paper addresses the problem of active collaborative localization in heterogeneous robot teams with unknown data association. It involves positioning a small number of identical unmanned ground vehicles (UGVs) at desired positions so…

Active Simultaneous Localization and Mapping (SLAM) is the problem of planning and controlling the motion of a robot to build the most accurate and complete model of the surrounding environment. Since the first foundational work in active…

Cross-view geo-spatial learning consists of two important tasks: Cross-View Geo-Localization (CVGL) and Cross-View Image Synthesis (CVIS), both of which rely on establishing geometric correspondences between ground and aerial views. Recent…

This paper addresses the Multi-Robot Active Information Acquisition (AIA) problem, where a team of mobile robots, communicating through an underlying graph, estimates a hidden state expressing a phenomenon of interest. Applications like…

Object-goal navigation is a challenging task that requires guiding an agent to specific objects based on first-person visual observations. The ability of agent to comprehend its surroundings plays a crucial role in achieving successful…

The Global Positioning System (GPS) has become a part of our daily life with the primary goal of providing geopositioning service. For an unmanned aerial system (UAS), geolocalization ability is an extremely important necessity which is…

In this paper, we present Goal-GAN, an interpretable and end-to-end trainable model for human trajectory prediction. Inspired by human navigation, we model the task of trajectory prediction as an intuitive two-stage process: (i) goal…

Highly Autonomous Driving (HAD) systems rely on deep neural networks for the visual perception of the driving environment. Such networks are trained on large manually annotated databases. In this work, a semi-parametric approach to one-shot…

We present a Deep Learning based system for the twin tasks of localization and obstacle avoidance essential to any mobile robot. Our system learns from conventional geometric SLAM, and outputs, using a single camera, the topological pose of…

We consider the problem of object goal navigation in unseen environments. Solving this problem requires learning of contextual semantic priors, a challenging endeavour given the spatial and semantic variability of indoor environments.…

Generalist Anomaly Detection (GAD) aims to train a unified model on an original domain that can detect anomalies in new target domains. Previous GAD methods primarily use only normal samples as references, overlooking the valuable…

Generalization is a pivotal challenge for agents following natural language instructions. To approach this goal, we leverage a vision-language model (VLM) for visual grounding and transfer its vision-language knowledge into reinforcement…

Worldwide geolocalization aims to locate the precise location at the coordinate level of photos taken anywhere on the Earth. It is very challenging due to 1) the difficulty of capturing subtle location-aware visual semantics, and 2) the…

In addition to the core tasks of simultaneous localization and mapping (SLAM), active SLAM additionally in- volves generating robot actions that enable effective and efficient exploration of unknown environments. However, existing active…

The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localization in GPS-denied environments still remain unsolved.…

Retrieving relevant multimedia content is one of the main problems in a world that is increasingly data-driven. With the proliferation of drones, high quality aerial footage is now available to a wide audience for the first time.…

Autonomous maritime surveillance and target vessel identification in environments where Global Navigation Satellite Systems (GNSS) are not available is critical for a number of applications such as search and rescue and threat detection.…

Cross-View Geo-Localization (CVGL) between UAV imagery and satellite images plays a crucial role in target localization and UAV self-positioning. However, most existing methods rely on the idealized assumption of scale consistency between…