相关论文: SpatiaLoc: Leveraging Multi-Level Spatial Enhanced…
Collaborative perception allows agents to enhance their perceptual capabilities by exchanging intermediate features. Existing methods typically organize these intermediate features as 2D bird's-eye-view (BEV) representations, which discard…
Recent advances in multimodal models have demonstrated impressive capabilities in object recognition and scene understanding. However, these models often struggle with precise spatial localization - a critical capability for real-world…
We present a method for image-guided exploration for mobile robotic systems. Our approach extends ergodic exploration methods, a recent exploration approach that prioritizes complete coverage of a space, with the use of a learned image…
Place recognition is essential for achieving closed-loop or global positioning in autonomous vehicles and mobile robots. Despite recent advancements in place recognition using 2D cameras or 3D LiDAR, it remains to be seen how to use 4D…
Despite the remarkable success of large-scale pre-trained image representation models (i.e., vision encoders) across various vision tasks, they are predominantly trained on 2D image data and therefore often fail to capture 3D spatial…
Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…
Online localization of road intersections is beneficial for autonomous vehicle localization, mapping and motion planning. Intersections offer strong landmarks for correcting vehicle pose estimation, anchoring new sensor data in up-to-date…
Domain adaptive object detection (DAOD) aims to alleviate transfer performance degradation caused by the cross-domain discrepancy. However, most existing DAOD methods are dominated by outdated and computationally intensive two-stage Faster…
Semantic localization (SeLo) refers to the task of obtaining the most relevant locations in large-scale remote sensing (RS) images using semantic information such as text. As an emerging task based on cross-modal retrieval, SeLo achieves…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
Open-vocabulary Multiple Object Tracking (MOT) aims to generalize trackers to novel categories not in the training set. Currently, the best-performing methods are mainly based on pure appearance matching. Due to the complexity of motion…
Spatial domain identification requires jointly modeling molecular signatures and physical coordinates, yet current tools frequently over-smooth biological boundaries, require user-specified cluster numbers, and lack principled multimodal…
Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the ability to segment and identify nearly all objects in the…
In this paper, we propose a novel unsupervised learning method for the lexical acquisition of words related to places visited by robots, from human continuous speech signals. We address the problem of learning novel words by a robot that…
The arrangement of things in n-dimensional space is specified as Spatial. Spatial data consists of values that denote the location and shape of objects and areas on the earths surface. Spatial information includes facts such as location of…
Recent learning-based approaches have achieved impressive results in the field of single-shot camera localization. However, how best to fuse multiple modalities (e.g., image and depth) and to deal with degraded or missing input are less…
Intelligent assistive systems can navigate blind people, but most of them could only give non-intuitive cues or inefficient guidance. Based on computer vision and vibrotactile encoding, this paper presents an interactive system that…
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…
Semantic maps allow a robot to reason about its surroundings to fulfill tasks such as navigating known environments, finding specific objects, and exploring unmapped areas. Traditional mapping approaches provide accurate geometric…
Spatiotemporal data faces many analogous challenges to natural language text including the ordering of locations (words) in a sequence, long range dependencies between locations, and locations having multiple meanings. In this work, we…