相关论文: Supercharging Floorplan Localization with Semantic…

Simultaneous Localization and Mapping (SLAM) plays a crucial role in enabling autonomous vehicles to navigate previously unknown environments. Semantic SLAM mostly extends visual SLAM, leveraging the higher density information available to…

In this work, we focus on the task of weakly supervised affordance grounding, where a model is trained to identify affordance regions on objects using human-object interaction images and egocentric object images without dense labels.…

In seismic interpretation, pixel-level labels of various rock structures can be time-consuming and expensive to obtain. As a result, there oftentimes exists a non-trivial quantity of unlabeled data that is left unused simply because…

Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the ability to segment and identify nearly all objects in the…

Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…

Place recognition using SOund Navigation and Ranging (SONAR) images is an important task for simultaneous localization and mapping(SLAM) in underwater environments. This paper proposes a robust and efficient imaging SONAR based place…

Machine learning has been considered a promising approach for indoor localization. Nevertheless, the sample efficiency, scalability, and generalization ability remain open issues of implementing learning-based algorithms in practical…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

We present LASER, an image-based Monte Carlo Localization (MCL) framework for 2D floor maps. LASER introduces the concept of latent space rendering, where 2D pose hypotheses on the floor map are directly rendered into a…

Research works on the two topics of Semantic Segmentation and SLAM (Simultaneous Localization and Mapping) have been following separate tracks. Here, we link them quite tightly by delineating a category label fusion technique that allows…

We design a predictive layer for structured-output prediction (SOP) that can be plugged into any neural network guaranteeing its predictions are consistent with a set of predefined symbolic constraints. Our Semantic Probabilistic Layer…

Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…

This paper presents a reactive planning system that enriches the topological representation of an environment with a tightly integrated semantic representation, achieved by incorporating and exploiting advances in deep perceptual learning…

Autonomous valet parking is a specific application for autonomous vehicles. In this task, vehicles need to navigate in narrow, crowded and GPS-denied parking lots. Accurate localization ability is of great importance. Traditional…

This paper introduces the visually informed embedding of word (VIEW), a continuous vector representation for a word extracted from a deep neural model trained using the Microsoft COCO data set to forecast the spatial arrangements between…

Pixel-level labels are particularly expensive to acquire. Hence, pretraining is a critical step to improve models on a task like semantic segmentation. However, prominent algorithms for pretraining neural networks use image-level…

We propose a novel visual SLAM method that integrates text objects tightly by treating them as semantic features via fully exploring their geometric and semantic prior. The text object is modeled as a texture-rich planar patch whose…

Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…

Recent years have seen flourishing research on both semi-supervised learning and 3D room layout reconstruction. In this work, we explore the intersection of these two fields to advance the research objective of enabling more accurate 3D…

This paper presents a novel algorithm that utilizes a 2D floorplan to align panorama RGBD scans. While effective panorama RGBD alignment techniques exist, such a system requires extremely dense RGBD image sampling. Our approach can…