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

Generative AI, specifically text-to-image models, have revolutionized interior architectural design by enabling the rapid translation of conceptual ideas into visual representations from simple text prompts. While generative AI can produce…

In this paper we present an overview of the methods and systems that give rise to a flying robotic system capable of autonomous inspection, surveying, comprehensive multi-modal mapping and inventory tracking of construction sites with high…

3D task planning has attracted increasing attention in human-robot interaction and embodied AI thanks to the recent advances in multimodal learning. However, most existing studies are facing two common challenges: 1) heavy reliance on…

This paper introduces an advanced AI-driven perception system for autonomous quadcopter navigation in GPS-denied indoor environments. The proposed framework leverages cloud computing to offload computationally intensive tasks and…

The challenge of mapping indoor environments is addressed. Typical heuristic algorithms for solving the motion planning problem are frontier-based methods, that are especially effective when the environment is completely unknown. However,…

Understanding human locomotion is crucial for AI agents such as robots, particularly in complex indoor home environments. Modeling human trajectories in these spaces requires insight into how individuals maneuver around physical obstacles…

Human-robot collaboration has been studied primarily in dyadic or sequential settings. However, real homes require multiadic collaboration, where multiple humans and robots share a workspace, acting concurrently on interleaved subtasks with…

The advancement of Embodied AI heavily relies on large-scale, simulatable 3D scene datasets characterized by scene diversity and realistic layouts. However, existing datasets typically suffer from limitations in data scale or diversity,…

This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. We also employ a professional, static 3D scanner for ground truth…

Autonomous driving systems must operate smoothly in human-populated indoor environments, where challenges arise including limited perception and occlusions when relying only on onboard sensors, as well as the need for socially compliant…

We introduce Scan2Plan, a novel approach for accurate estimation of a floorplan from a 3D scan of the structural elements of indoor environments. The proposed method incorporates a two-stage approach where the initial stage clusters an…

We present a novel method for populating 3D indoor scenes with virtual humans that can navigate in the environment and interact with objects in a realistic manner. Existing approaches rely on training sequences that contain captured human…

In indoor environments, multi-robot visual (RGB-D) mapping and exploration hold immense potential for application in domains such as domestic service and logistics, where deploying multiple robots in the same environment can significantly…

In this paper, we present an innovative technique for the path planning of flying robots in a 3D environment in Rough Mereology terms. The main goal was to construct the algorithm that would generate the mereological potential fields in…

This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…

Data-efficient training of robust robot policies is the key to unlocking automation in a wide array of novel tasks. Current systems require large volumes of demonstrations to achieve robustness, which is impractical in many applications.…

The goal of this paper is to implement a system, titled as Drone Map Creator (DMC) using Computer Vision techniques. DMC can process visual information from an HD camera in a drone and automatically create a map by stitching together visual…

The field of 360-degree omnidirectional understanding has been receiving increasing attention for advancing spatial intelligence. However, the lack of large-scale and diverse data remains a major limitation. In this work, we propose…

Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless navigate that area successfully. In the context of…

This paper explores the process of designing an automatic multi-sensor drone detection system. Besides the common video and audio sensors, the system also includes a thermal infrared camera, which is shown to be a feasible solution to the…