7 accepted papers
Reliable 4D object detection, which refers to 3D object detection in streaming video, is crucial for perceiving and understanding the real world. Existing open-set 4D object detection methods typically make predictions on a frame-by-frame basis without modeling temporal consistency, or rely on compl
We introduce LOG-Nav, an efficient layout-aware object-goal navigation approach designed for complex multi-room indoor environments. By planning hierarchically leveraging a global topologigal map with layout information and local imperative approach with detailed scene representation memory, LOG-Na
Mobile robots require comprehensive scene understanding to operate effectively in diverse environments, enriched with contextual information such as layouts, objects, and their relationships. Although advances like neural radiance fields (NeRFs) offer high-fidelity 3D reconstructions, they are compu
In autonomous driving, 3D occupancy prediction outputs voxel-wise status and semantic labels for more comprehensive understandings of 3D scenes compared with traditional perception tasks, such as 3D object detection and bird’s-eye view (BEV) semantic segmentation. Recent researchers have extensively…
For everyday service robotics, the ability to navigate back and forth based on tasks in multi-subscene environments and perform delicate manipulations is crucial and highly practical. While existing robotics primarily focus on complex tasks within a single scene or simple tasks across scalable scene…
Given a building floorplan, humans can localize themselves by matching the observation of the environment with the floorplan using geometric, semantic, and topological clues. Inspired by this insight, this paper proposes a learning- based topometric robot localization method FloorplanNet, which impl…
Spatiotemporal calibration of sensors, especially of those which do not share their fields of view, is becoming increasingly important in the fields of autonomous driving and robotics. This paper presents a general sensor calibration method, named Multical, that makes use of multiple planar calibrat…