相关论文: YOPO-Nav: Visual Navigation using 3DGS Graphs from…

Advanced minimally invasive neurosurgery navigation relies mainly on Magnetic Resonance Imaging (MRI) guidance. MRI guidance, however, only provides pre-operative information in the majority of the cases. Once the surgery begins, the value…

Object detection remains an active area of research in the field of computer vision, and considerable advances and successes has been achieved in this area through the design of deep convolutional neural networks for tackling object…

Visual navigation with an image as goal is a fundamental and challenging problem. Conventional methods either rely on end-to-end RL learning or modular-based policy with topological graph or BEV map as memory, which cannot fully model the…

By harnessing fiducial markers as visual landmarks in the environment, Unmanned Aerial Vehicles (UAVs) can rapidly build precise maps and navigate spaces safely and efficiently, unlocking their potential for fluent collaboration and…

Visual navigation models often struggle in real-world dynamic environments due to limited robustness to the sim-to-real gap and the difficulty of training policies tailored to target deployment environments (e.g., households, restaurants,…

What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…

Open-Vocabulary Object Navigation (OVON) requires an embodied agent to locate a language-specified target in unknown environments. Existing zero-shot methods often reason over dense frontier points under incomplete observations, causing…

In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…

Autonomous driving presents many challenges due to the large number of scenarios the autonomous vehicle (AV) may encounter. End-to-end deep learning models are comparatively simplistic models that can handle a broad set of scenarios.…

Indoor navigation is a difficult task, as it generally comes with poor GPS access, forcing solutions to rely on other sources of information. While significant progress continues to be made in this area, deployment to production…

Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…

Object detection is considered one of the most challenging problems in this field of computer vision, as it involves the combination of object classification and object localization within a scene. Recently, deep neural networks (DNNs) have…

Visual navigation for cross-embodiment robots is challenging due to variations in robot and camera configurations, which can lead to the failure of navigation tasks. Previous approaches typically rely on collecting massive datasets across…

Visual Object Goal Navigation (ObjectNav) requires a robot to locate a target object in an unseen environment using egocentric observations. However, decision-making policies often struggle to transfer to unseen environments and novel…

We propose a Visual Teach and Repeat (VTR) algorithm using semantic landmarks extracted from environmental objects for ground robots with fixed mount monocular cameras. The proposed algorithm is robust to changes in the starting pose of the…

Humans excel at efficiently navigating through crowds without collision by focusing on specific visual regions relevant to navigation. However, most robotic visual navigation methods rely on deep learning models pre-trained on vision tasks,…

Object Navigation (ObjectNav) has made great progress with large language models (LLMs), but still faces challenges in memory management, especially in long-horizon tasks and dynamic scenes. To address this, we propose TopoNav, a new…

Navigating unseen, large-scale environments based on complex and abstract human instructions remains a formidable challenge for autonomous mobile robots. Addressing this requires robots to infer implicit semantics and efficiently explore…

Though visual and repeat navigation is a convenient solution for mobile robot self-navigation, achieving balance between efficiency and robustness in task environment still remains challenges. In this paper, we propose a novel visual and…

This paper presents a novel method for real-time 3D navigation in large-scale, complex environments using a hierarchical 3D visibility graph (V-graph). The proposed algorithm addresses the computational challenges of V-graph construction…