79 citations · 165 across the 24 of their papers we have counts for
5 papers · 1 filter
3D Scene Graph Prediction: Generating Hierarchical Models from Partially Observed Environments
Siyi Hu, Jared Strader, Hyungtae Lim +1
Generating realistic 3D indoor scenes is an area of growing interest in computer vision and robotics. Existing methods, often motivated by applications such as interior design, gen…
Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems
Nathan Hughes, Yun Chang, Siyi Hu +4
3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge.…
Leveraging Large (Visual) Language Models for Robot 3D Scene Understanding
William Chen, Siyi Hu, Rajat Talak +1
Abstract semantic 3D scene understanding is a problem of critical importance in robotics. As robots still lack the common-sense knowledge about household objects and locations of a…
Extracting Zero-shot Common Sense from Large Language Models for Robot 3D Scene Understanding
William Chen, Siyi Hu, Rajat Talak +1
Semantic 3D scene understanding is a problem of critical importance in robotics. While significant advances have been made in simultaneous localization and mapping algorithms, robo…
Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models
Pierre-Yves Lajoie, Siyi Hu, Giovanni Beltrame +1
Perceptual aliasing is one of the main causes of failure for Simultaneous Localization and Mapping (SLAM) systems operating in the wild. Perceptual aliasing is the phenomenon where…