相关论文: Open-Vocabulary Online Semantic Mapping for SLAM

This paper introduces SLIM-VDB, a new lightweight semantic mapping system with probabilistic semantic fusion for closed-set or open-set dictionaries. Advances in data structures from the computer graphics community, such as OpenVDB, have…

Robust and accurate state estimation remains a challenge in robotics, Augmented, and Virtual Reality (AR/VR), even as Visual-Inertial Simultaneous Localisation and Mapping (VI-SLAM) getting commoditised. Here, a full VI-SLAM system is…

Accurate and robust simultaneous localization and mapping (SLAM) is crucial for autonomous mobile systems, typically achieved by leveraging the geometric features of the environment. Incorporating semantics provides a richer scene…

Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…

Visual Simultaneous Localization and Mapping (vSLAM) has achieved great progress in the computer vision and robotics communities, and has been successfully used in many fields such as autonomous robot navigation and AR/VR. However, vSLAM…

Open-vocabulary semantic segmentation presents the challenge of labeling each pixel within an image based on a wide range of text descriptions. In this work, we introduce a novel cost-based approach to adapt vision-language foundation…

In this paper, we conducted a comparative evaluation of three RGB-D SLAM (Simultaneous Localization and Mapping) algorithms: RTAB-Map, ORB-SLAM3, and OpenVSLAM for SURENA-V humanoid robot localization and mapping. Our test involves the…

Open-vocabulary 3D object detection for autonomous driving aims to detect novel objects beyond the predefined training label sets in point cloud scenes. Existing approaches achieve this by connecting traditional 3D object detectors with…

From image-text pairs, large-scale vision-language models (VLMs) learn to implicitly associate image regions with words, which prove effective for tasks like visual question answering. However, leveraging the learned association for…

Existing open-vocabulary object detectors typically enlarge their vocabulary sizes by leveraging different forms of weak supervision. This helps generalize to novel objects at inference. Two popular forms of weak-supervision used in…

Traditional 3D scene understanding approaches rely on labeled 3D datasets to train a model for a single task with supervision. We propose OpenScene, an alternative approach where a model predicts dense features for 3D scene points that are…

Open-vocabulary semantic mapping enables robots to spatially ground previously unseen concepts without requiring predefined class sets. Current training-free methods commonly rely on multi-view fusion of semantic embeddings into a 3D map,…

Gaining spatial awareness of the Operating Room (OR) for surgical robotic systems is a key technology that can enable intelligent applications aiming at improved OR workflow. In this work, we present a method for semantic dense…

Benefiting from the inductive biases learned from large-scale datasets, open-vocabulary semantic segmentation (OVSS) leverages the power of vision-language models, such as CLIP, to achieve remarkable progress without requiring task-specific…

In this paper, we consider the problem of simultaneously detecting objects and inferring their visual attributes in an image, even for those with no manual annotations provided at the training stage, resembling an open-vocabulary scenario.…

Open-vocabulary image semantic segmentation (OVS) seeks to segment images into semantic regions across an open set of categories. Existing OVS methods commonly depend on foundational vision-language models and utilize similarity computation…

This paper presents ORB-SLAM, a feature-based monocular SLAM system that operates in real time, in small and large, indoor and outdoor environments. The system is robust to severe motion clutter, allows wide baseline loop closing and…

Recently, a few open-vocabulary methods have been proposed by employing a unified architecture to tackle generic segmentation and detection tasks. However, their performance still lags behind the task-specific models due to the conflict…

Open-vocabulary semantic segmentation (OVSS) employs pixel-level vision-language alignment to associate category-related prompts with corresponding pixels. A key challenge is enhancing the multimodal dense prediction capability,…

Loop closure, as one of the crucial components in SLAM, plays an essential role in correcting the accumulated errors. Traditional appearance-based methods, such as bag-of-words models, are often limited by local 2D features and the volume…