相关论文: Graph2Nav: 3D Object-Relation Graph Generation to …

This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections in various settings, often requiring the robot to identify…

Understanding a scene by decoding the visual relationships depicted in an image has been a long studied problem. While the recent advances in deep learning and the usage of deep neural networks have achieved near human accuracy on many…

Understanding 3D scenes in open-world settings poses fundamental challenges for vision and robotics, particularly due to the limitations of closed-vocabulary supervision and static annotations. To address this, we propose a unified…

Robots operating in unstructured environments often require accurate and consistent object-level representations. This typically requires segmenting individual objects from the robot's surroundings. While recent large models such as Segment…

Scene graph generation is a sophisticated task because there is no specific recognition pattern (e.g., "looking at" and "near" have no conspicuous difference concerning vision, whereas "near" could occur between entities with different…

Interacting with real-world cluttered scenes pose several challenges to robotic agents that need to understand complex spatial dependencies among the observed objects to determine optimal pick sequences or efficient object retrieval…

3D scene graphs have recently emerged as a powerful high-level representation of 3D environments. A 3D scene graph describes the environment as a layered graph where nodes represent spatial concepts at multiple levels of abstraction and…

Generating realistic images from scene graphs asks neural networks to be able to reason about object relationships and compositionality. As a relatively new task, how to properly ensure the generated images comply with scene graphs or how…

For a multi-robot team that collaboratively explores an unknown environment, it is of vital importance that collected information is efficiently shared among robots in order to support exploration and navigation tasks. Practical constraints…

We present a relational graph learning approach for robotic crowd navigation using model-based deep reinforcement learning that plans actions by looking into the future. Our approach reasons about the relations between all agents based on…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Scene graphs are nodes and edges consisting of objects and object-object relationships, respectively. Scene graph generation (SGG) aims to identify the objects and their relationships. We propose a bidirectional GRU (BiGRU) transformer…

Object detection with 3D radar is essential for 360-degree automotive perception, but radar's long wavelengths produce sparse and irregular reflections that challenge traditional grid and sequence-based convolutional and transformer…

Visual navigation using only a single camera and a topological map has recently become an appealing alternative to methods that require additional sensors and 3D maps. This is typically achieved through an "image-relative" approach to…

3D Multi-object tracking (MOT) is crucial to autonomous systems. Recent work often uses a tracking-by-detection pipeline, where the feature of each object is extracted independently to compute an affinity matrix. Then, the affinity matrix…

In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…

Panorama images have a much larger field-of-view thus naturally encode enriched scene context information compared to standard perspective images, which however is not well exploited in the previous scene understanding methods. In this…

We propose a novel scene graph generation model called Graph R-CNN, that is both effective and efficient at detecting objects and their relations in images. Our model contains a Relation Proposal Network (RePN) that efficiently deals with…

Spatial relationships between objects provide important information for text-based image retrieval. As users are more likely to describe a scene from a real world perspective, using 3D spatial relationships rather than 2D relationships that…

We present a novel method for generating, predicting, and using Spatiotemporal Occupancy Grid Maps (SOGM), which embed future information of dynamic scenes. Our automated generation process creates groundtruth SOGMs from previous navigation…