相关论文: VLPG-Nav: Object Navigation Using Visual Language …

Human visual scene understanding is so remarkable that we are able to recognize a revisited place when entering it from the opposite direction it was first visited, even in the presence of extreme variations in appearance. This capability…

We present GLIPv2, a grounded VL understanding model, that serves both localization tasks (e.g., object detection, instance segmentation) and Vision-Language (VL) understanding tasks (e.g., VQA, image captioning). GLIPv2 elegantly unifies…

Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, existing approaches often require dense lighting distributions.…

This paper addresses Visual Place Recognition (VPR), which is essential for the safe navigation of mobile robots. The solution we propose employs panoramic images and deep learning models, which are fine-tuned with triplet loss functions…

Place recognition is a critical component in robot navigation that enables it to re-establish previously visited locations, and simultaneously use this information to correct the drift incurred in its dead-reckoned estimate. In this work,…

While interacting in the world is a multi-sensory experience, many robots continue to predominantly rely on visual perception to map and navigate in their environments. In this work, we propose Audio-Visual-Language Maps (AVLMaps), a…

This paper surveys vision-language pre-training (VLP) methods for multimodal intelligence that have been developed in the last few years. We group these approaches into three categories: ($i$) VLP for image-text tasks, such as image…

Visual Place Recognition (VPR) is a core component in computer vision, typically formulated as an image retrieval task for localization, mapping, and navigation. In this work, we instead study VPR as an image pair retrieval front-end for…

Recognizing and grasping novel-category objects remains a crucial yet challenging problem in real-world robotic applications. Despite its significance, limited research has been conducted in this specific domain. To address this, we…

Active perception enables robots to dynamically gather information by adjusting their viewpoints, a crucial capability for interacting with complex, partially observable environments. In this paper, we present AP-VLM, a novel framework that…

From rearranging objects on a table to putting groceries into shelves, robots must plan precise action points to perform tasks accurately and reliably. In spite of the recent adoption of vision language models (VLMs) to control robot…

To assist humans in open-world environments, robots must interpret ambiguous instructions to locate desired objects. Foundation model-based approaches excel at multimodal grounding, but they lack a principled mechanism for modeling…

Visual homing is a lightweight approach to visual navigation. Given the stored information of an initial 'home' location, the navigation task back to this location is achieved from any other location by comparing the stored home information…

Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…

In recent times, object detection and pose estimation have gained significant attention in the context of robotic vision applications. Both the identification of objects of interest as well as the estimation of their pose remain important…

Object search is a fundamental skill for household robots, yet the core problem lies in the robot's ability to locate the target object accurately. The dynamic nature of household environments, characterized by the arbitrary placement of…

We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been…

Grasping user-specified objects is crucial for robotic assistants; however, most current 6-DoF grasp detection methods are object-agnostic, making it challenging to grasp specific targets from a scene. To achieve that, we present GoalGrasp,…

Although Multimodal Large Language Models (MLLMs) excel at various image-related tasks, they encounter challenges in precisely aligning coordinates with spatial information within images, particularly in position-aware tasks such as visual…

Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…