相关论文: FlyMeThrough: Human-AI Collaborative 3D Indoor Map…

People spend a significant amount of time in indoor spaces (e.g., office buildings, subway systems, etc.) in their daily lives. Therefore, it is important to develop efficient indoor spatial query algorithms for supporting various…

We present Acoustic Inertial Measurement (AIM), a one-of-a-kind technique for indoor drone localization and tracking. Indoor drone localization and tracking are arguably a crucial, yet unsolved challenge: in GPS-denied environments,…

We introduce the Semantic Interior Mapology (SIM) toolbox for the conversion of a floor plan and its room contents (such as furnitures) to a vectorized form. The toolbox is composed of the Map Conversion toolkit and the Map Population…

In the modern era of automation and robotics, autonomous vehicles are currently the focus of academic and industrial research. With the ever increasing number of unmanned aerial vehicles getting involved in activities in the civilian and…

We present a dataset of large-scale indoor spaces that provides a variety of mutually registered modalities from 2D, 2.5D and 3D domains, with instance-level semantic and geometric annotations. The dataset covers over 6,000m2 and contains…

The emergence of 3D artificial intelligence-generated content (3D-AIGC) has enabled rapid synthesis of intricate geometries. However, a fundamental disconnect persists between AI-generated content and human-centric design paradigms, rooted…

Determining material properties from camera images can expand the ability to identify complex objects in indoor environments, which is valuable for consumer robotics applications. To support this, we introduce MatPredict, a dataset that…

The increasing rates of global urbanization and vehicle usage are leading to a shift of mobility to the third dimension-through Advanced Air Mobility (AAM)-offering a promising solution for faster, safer, cleaner, and more efficient…

A robot operating in a real-world environment needs to perform reasoning over a variety of sensor modalities such as vision, language and motion trajectories. However, it is extremely challenging to manually design features relating such…

Camera-based activity monitoring systems are becoming an attractive solution for smart building applications with the advances in computer vision and edge computing technologies. In this paper, we present a feasibility study and systematic…

Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…

Immersive Colonography allows medical professionals to navigate inside the intricate tubular geometries of subject-specific 3D colon images using Virtual Reality displays. Typically, camera travel is performed via Fly-Through or Fly-Over…

Seamless integration of virtual and physical worlds in augmented reality benefits from the system semantically "understanding" the physical environment. AR research has long focused on the potential of context awareness, demonstrating novel…

Obstacle avoidance is a key feature for safe Unmanned Aerial Vehicle (UAV) navigation. While solutions have been proposed for static obstacle avoidance, systems enabling avoidance of dynamic objects, such as drones, are hard to implement…

This paper introduces a high-performance artificial intelligence operating system tailored for low-altitude aviation, designed to address key challenges such as real-time task execution, computational efficiency, and seamless modular…

Long-term planning for robots operating in domestic environments poses unique challenges due to the interactions between humans, objects, and spaces. Recent advancements in trajectory planning have leveraged vision-language models (VLMs) to…

Collaborative trajectory prediction can comprehensively forecast the future motion of objects through multi-view complementary information. However, it encounters two main challenges in multi-drone collaboration settings. The expansive…

Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…

Vision-and-Language Navigation (VLN) suffers from the limited diversity and scale of training data, primarily constrained by the manual curation of existing simulators. To address this, we introduce RoomTour3D, a video-instruction dataset…

The proliferation of robots in public spaces necessitates a deeper understanding of how these robots can interact with those they share the space with. In this paper, we present findings from video analysis of publicly deployed cleaning…