相关论文: OmniMap: A General Mapping Framework Integrating O…

Conventional trajectory planning approaches for autonomous vehicles often assume a fixed vehicle model that remains constant regardless of the vehicle's location. This overlooks the critical fact that the tires and the surface are the two…

Maps play a key role in rapidly developing area of autonomous driving. We survey the literature for different map representations and find that while the world is three-dimensional, it is common to rely on 2D map representations in order to…

Modern visual agents require representations that are general, causal, and physically structured to operate in real-time streaming environments. However, current vision foundation models remain fragmented, specializing narrowly in image…

Simultaneous localization and mapping, especially the one relying solely on video data (vSLAM), is a challenging problem that has been extensively studied in robotics and computer vision. State-of-the-art vSLAM algorithms are capable of…

Object SLAM is considered increasingly significant for robot high-level perception and decision-making. Existing studies fall short in terms of data association, object representation, and semantic mapping and frequently rely on additional…

The advent of generalist Large Language Models (LLMs) and Large Vision Models (VLMs) have streamlined the construction of semantically enriched maps that can enable robots to ground high-level reasoning and planning into their…

While High Definition (HD) Maps have long been favored for their precise depictions of static road elements, their accessibility constraints and susceptibility to rapid environmental changes impede the widespread deployment of autonomous…

General 3D foundation models have started to lead the trend of unifying diverse vision tasks, yet most assume RGB-only inputs and ignore readily available geometric cues (e.g., camera intrinsics, poses, and depth maps). To address this…

This paper presents an advanced mapping system that combines drone imagery with machine learning and computer vision to overcome challenges in speed, accuracy, and adaptability across diverse terrains. By automating processes like feature…

Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…

Aligning objects with corresponding textual descriptions is a fundamental challenge and a realistic requirement in vision-language understanding. While recent multimodal embedding models excel at global image-text alignment, they often…

In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned…

360 cameras capture the entire surrounding environment with a large FoV, exhibiting comprehensive visual information to directly infer the 3D structures, e.g., depth and surface normal, and semantic information simultaneously. Existing…

For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and planning. Recent approaches have attempted to leverage features…

We propose a novel framework for comprehensive indoor 3D reconstruction using Gaussian representations, called OmniIndoor3D. This framework enables accurate appearance, geometry, and panoptic reconstruction of diverse indoor scenes captured…

Recent multimodal large language models have achieved strong performance in unified text and image understanding and generation, yet extending such native capability to 3D remains challenging due to limited data. Compared to abundant 2D…

General scene understanding for robotics requires flexible semantic representation, so that novel objects and structures which may not have been known at training time can be identified, segmented and grouped. We present an algorithm which…

Zero-shot scene understanding in real-world settings presents major challenges due to the complexity and variability of natural scenes, where models must recognize new objects, actions, and contexts without prior labeled examples. This work…

Human-robot interaction requires a common understanding of the operational environment, which can be provided by a representation that blends geometric and symbolic knowledge: a semantic map. Through a semantic map the robot can interpret…

Recent advances in vision-language models have made zero-shot navigation feasible, enabling robots to follow natural language instructions without requiring labeling. However, existing methods that explicitly store language vectors in grid…