相关论文: Turn-by-Turn Indoor Navigation for the Visually Im…
This paper explores the effectiveness of Multimodal Large Language models (MLLMs) as assistive technologies for visually impaired individuals. We conduct a user survey to identify adoption patterns and key challenges users face with such…
In recent years, there has been an increasing number of information technologies utilized in buildings to advance the idea of "smart buildings". Among various potential techniques, the use of Wi-Fi based indoor positioning allows to locate…
Smartphones have significantly enhanced our daily learning, communication, and entertainment, becoming an essential component of modern life. However, certain populations, including the elderly and individuals with disabilities, encounter…
Locating the persons moving through an environment without the necessity of them being equipped with special devices has become vital for many applications including security, IoT, healthcare, etc. Existing device-free indoor localization…
Wi-Fi fingerprinting-based indoor localization is an emerging embedded application domain that leverages existing Wi-Fi access points (APs) in buildings to localize users with smartphones. Unfortunately, the heterogeneity of wireless…
Indoor navigation is a challenging activity for persons with disabilities, particularly, for those with low vision and visual impairment. Researchers have explored numerous solutions to resolve these challenges; however, several issues…
In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…
In today's society, where independent living is becoming increasingly important, it can be extremely constricting for those who are blind. Blind and visually impaired (BVI) people face challenges because they need manual support to prompt…
In this paper, we develop an embodied AI system for human-in-the-loop navigation with a wheeled mobile robot. We propose a direct yet effective method of monitoring the robot's current plan to detect changes in the environment that impact…
The rapid advancement of generative AI technologies is driving the integration of diverse AI-powered services into smartphones, transforming how users interact with their devices. To simplify access to predefined AI services, this paper…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
Visual navigation is a fundamental capability for autonomous home-assistance robots, enabling long-horizon tasks such as object search. While recent methods have leveraged Large Language Models (LLMs) to incorporate commonsense reasoning…
Large Language Models (LLMs) can help robots reason about abstract task specifications. This requires augmenting classical representations of the environment used by robots, such as point-clouds and meshes, with natural language-based…
We present Visual Navigation and Locomotion over obstacles (ViNL), which enables a quadrupedal robot to navigate unseen apartments while stepping over small obstacles that lie in its path (e.g., shoes, toys, cables), similar to how humans…
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…
In recent years, advancements in Natural Language Processing (NLP) techniques have revolutionized the field of accessibility and exclusivity of testing, particularly for visually impaired students (VIS). CBT has shown in years back its…
Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…
In the area of autonomous driving, navigating off-road terrains presents a unique set of challenges, from unpredictable surfaces like grass and dirt to unexpected obstacles such as bushes and puddles. In this work, we present a novel…
Navigating human-filled spaces is crucial for the interactive social robots to support advanced services, such as cooperative carrying, which enables service provision in complex and crowded environments while adapting behavior based on…
Several deployment locations of mobile robotic systems are human made (i.e. urban firefighter, building inspection, property security) and the manager may have access to domain-specific knowledge about the place, which can provide semantic…