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

Autonomous exploration in complex and cluttered environments is essential for various applications. However, there are many challenges due to the lack of global heuristic information. Existing exploration methods suffer from the repeated…

Goal-conditioned policies for robotic navigation can be trained on large, unannotated datasets, providing for good generalization to real-world settings. However, particularly in vision-based settings where specifying goals requires an…

Industrial facilities often require periodic visual inspections of key installations. Examining these points of interest is time consuming, potentially hazardous or require special equipment to reach. MAVs are ideal platforms to automate…

Monocular visual navigation methods have seen significant advances in the last decade, recently producing several real-time solutions for autonomously navigating small unmanned aircraft systems without relying on GPS. This is critical for…

A fundamental task in robotics is to navigate between two locations. In particular, real-world navigation can require long-horizon planning using high-dimensional RGB images, which poses a substantial challenge for end-to-end learning-based…

This paper studies the problem of image-goal navigation which involves navigating to the location indicated by a goal image in a novel previously unseen environment. To tackle this problem, we design topological representations for space…

Neural Radiance Fields (NeRFs) have recently emerged as a powerful paradigm for the representation of natural, complex 3D scenes. NeRFs represent continuous volumetric density and RGB values in a neural network, and generate photo-realistic…

Enabling robots to navigate open-world environments via natural language is critical for general-purpose autonomy. Yet, Vision-Language Navigation has relied on end-to-end policies trained on expensive, embodiment-specific robot data. While…

This paper presents LiteVLoc, a hierarchical visual localization framework that uses a lightweight topo-metric map to represent the environment. The method consists of three sequential modules that estimate camera poses in a coarse-to-fine…

We present a semantically rich graph representation for indoor robotic navigation. Our graph representation encodes: semantic locations such as offices or corridors as nodes, and navigational behaviors such as enter office or cross a…

According to WHO statistics, the number of visually impaired people is increasing annually. One of the most critical necessities for visually impaired people is the ability to navigate safely. This paper proposes a navigation system based…

To achieve successful field autonomy, mobile robots need to freely adapt to changes in their environment. Visual navigation systems such as Visual Teach and Repeat (VT&R) often assume the space around the reference trajectory is free, but…

We present a novel concept for teach-and-repeat visual navigation. The proposed concept is based on a mathematical model, which indicates that in teach-and-repeat navigation scenarios, mobile robots do not need to perform explicit…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

Objective-oriented navigation(ObjNav) enables robot to navigate to target object directly and autonomously in an unknown environment. Effective perception in navigation in unknown environment is critical for autonomous robots. While…

Autonomous navigation in unknown environments is challenging and demands the consideration of both geometric and semantic information in order to parse the navigability of the environment. In this work, we propose a novel space modeling…

Recent embodied navigation approaches leveraging Vision-Language Models (VLMs) demonstrate strong generalization in versatile Vision-Language Navigation (VLN). However, reliable path planning in complex environments remains challenging due…

3D Gaussian Splatting (3DGS) is an emerging media representation that reconstructs real-world 3D scenes in high fidelity, enabling 6-degrees-of-freedom (6-DoF) navigation in virtual reality (VR). However, developing and evaluating…

This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…

Visual navigation is essential for robotics and embodied AI. However, existing foundation models, particularly those with transformer decoders, suffer from high computational overhead and lack interpretability, limiting their deployment in…