相关论文: Natural Language-Driven Global Mapping of Martian …
The rapid expansion of Earth Science data from satellite observations, reanalysis products, and numerical simulations has created a critical bottleneck in scientific discovery, namely identifying relevant datasets for a given research…
The field of autonomous navigation for unmanned ground vehicles (UGVs) is in continuous growth and increasing levels of autonomy have been reached in the last few years. However, the task becomes more challenging when the focus is on the…
Humans live in a 3D world and commonly use natural language to interact with a 3D scene. Modeling a 3D language field to support open-ended language queries in 3D has gained increasing attention recently. This paper introduces LangSplat,…
Future planetary exploration envisions autonomous robotic agents operating under severe communication constraints, without global positioning, and with minimal human intervention. In such environments, agents must not only perceive and act,…
Navigational signs enable humans to navigate unfamiliar environments without maps. This work studies how robots can similarly exploit signs for mapless navigation in the open world. A central challenge lies in interpreting signs: real-world…
Open-vocabulary semantic mapping enables robots to spatially ground previously unseen concepts without requiring predefined class sets. Current training-free methods commonly rely on multi-view fusion of semantic embeddings into a 3D map,…
Language-Guided object recognition in remote sensing imagery is crucial for large-scale mapping and automated data annotation. However, existing open-vocabulary and visual grounding methods rely on explicit category cues, limiting their…
Navigating drones through natural language commands remains challenging due to the dearth of accessible multi-modal datasets and the stringent precision requirements for aligning visual and textual data. To address this pressing need, we…
Humans describe images in terms of nouns and adjectives while algorithms operate on images represented as sets of pixels. Bridging this gap between how humans would like to access images versus their typical representation is the goal of…
This article presents a novel approach to identifying and classifying intersections for semantic and topological mapping. More specifically, the proposed novel approach has the merit of generating a semantically meaningful map containing…
We present a multi-level geocoding model (MLG) that learns to associate texts to geographic locations. The Earth's surface is represented using space-filling curves that decompose the sphere into a hierarchy of similarly sized,…
We address the challenge of task-oriented navigation in unstructured and unknown environments, where robots must incrementally build and reason on rich, metric-semantic maps in real time. Since tasks may require clarification or…
Maps are fundamental medium to visualize and represent the real word in a simple and 16 philosophical way. The emergence of the 3rd wave information has made a proportion of maps are available to be generated ubiquitously, which would…
In this paper, we present a grammar-based natural language framework for robot programming, specifically for pick-and-place tasks. Our approach uses a custom dictionary of action words, designed to store together words that share meaning,…
Autonomous exploration in unknown environments is key for mobile robots, helping them perceive, map, and make decisions in complex areas. However, current methods often rely on frequent global optimization, suffering from high computational…
Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…
Exploring volumetric data is crucial for interpreting scientific datasets. However, selecting optimal viewpoints for effective navigation can be challenging, particularly for users without extensive domain expertise or familiarity with 3D…
The named concepts and compositional operators present in natural language provide a rich source of information about the kinds of abstractions humans use to navigate the world. Can this linguistic background knowledge improve the…
The lack of open-source tools for hyperspectral data visualization and analysiscreates a demand for new tools. In this paper we present the new PlanetServer,a set of tools comprising a web Geographic Information System (GIS) and arecently…
The NASA Planetary Data System hosts millions of images acquired from the planet Mars. To help users quickly find images of interest, we have developed and deployed content-based classification and search capabilities for Mars orbital and…