相关论文: REACT: Real-time Efficient Attribute Clustering an…

Scene Graph Generation (SGG) is a task that encodes visual relationships between objects in images as graph structures. SGG shows significant promise as a foundational component for downstream tasks, such as reasoning for embodied agents.…

Interactive 3D scenes are increasingly vital for embodied intelligence, yet existing datasets remain limited due to the labor-intensive process of annotating part segmentation, kinematic types, and motion trajectories. We present REACT3D, a…

Scene Graph Generation (SGG) is a task that encodes visual relationships between objects in images as graph structures. SGG shows significant promise as a foundational component for downstream tasks, such as reasoning for embodied agents.…

We present a novel approach for relocalization or place recognition, a fundamental problem to be solved in many robotics, automation, and AR applications. Rather than relying on often unstable appearance information, we consider a situation…

The accurate reconstruction of dynamic street scenes is critical for applications in autonomous driving, augmented reality, and virtual reality. Traditional methods relying on dense point clouds and triangular meshes struggle with moving…

We devise a graph attention network-based approach for learning a scene triangle mesh representation in order to estimate an image camera position in a dynamic environment. Previous approaches built a scene-dependent model that explicitly…

Emerging Internet of Things (IoT) and mobile computing applications are expected to support latency-sensitive deep neural network (DNN) workloads. To realize this vision, the Internet is evolving towards an edge-computing architecture,…

In real-world scenarios, environment changes caused by human or agent activities make it extremely challenging for robots to perform various long-term tasks. Recent works typically struggle to effectively understand and adapt to dynamic…

Recent advancements in 3D Gaussian Splatting(3DGS) have significantly improved semantic scene understanding, enabling natural language queries to localize objects within a scene. However, existing methods primarily focus on embedding…

Loop closures are essential for correcting odometry drift and creating consistent maps, especially in the context of large-scale navigation. Current methods using dense point clouds for accurate place recognition do not scale well due to…

Inspection of underwater structures with tethered underwater vehicles is often hindered by the risk of tether entanglement. We propose REACT (real-time entanglement-aware coverage path planning for tethered underwater vehicles), a framework…

End-to-end Object Detection with Transformer (DETR)proposes to perform object detection with Transformer and achieve comparable performance with two-stage object detection like Faster-RCNN. However, DETR needs huge computational resources…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

Scene graph alignment establishes object correspondences between two 3D scene graphs constructed from partially overlapping observations. This enables efficient scene understanding and object-level relocalization when a robot revisits a…

A compositional understanding of the world in terms of objects and their geometry in 3D space is considered a cornerstone of human cognition. Facilitating the learning of such a representation in neural networks holds promise for…

We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (e.g. objects, walls, rooms), and edges represent relations (e.g.…

Creating 3D semantic reconstructions of environments is fundamental to many applications, especially when related to autonomous agent operation (e.g., goal-oriented navigation or object interaction and manipulation). Commonly, 3D semantic…

We present a technique for simultaneous 3D reconstruction of static regions and rigidly moving objects in a scene. An RGB-D frame is represented as a collection of features, which are points and planes. We classify the features into static…

Recent advances in video reward models and post-training strategies have improved text-to-video (T2V) generation. While these models typically assess visual quality, motion quality, and text alignment, they often overlook key structural…

Formation control of wheeled mobile robots (WMRs) has been extensively studied due to its broad applications in fields such as logistics transportation, environmental monitoring, and search and rescue. However, most existing works mainly…