3 papers
cs.RO2024
Reliable Semantic Understanding for Real World Zero-shot Object Goal Navigation
Halil Utku Unlu, Shuaihang Yuan, Congcong Wen +3
We introduce an innovative approach to advancing semantic understanding in zero-shot object goal navigation (ZS-OGN), enhancing the autonomy of robots in unfamiliar environments. T…
cs.RO2024
Exploring the Reliability of Foundation Model-Based Frontier Selection in Zero-Shot Object Goal Navigation
Shuaihang Yuan, Halil Utku Unlu, Hao Huang +3
In this paper, we present a novel method for reliable frontier selection in Zero-Shot Object Goal Navigation (ZS-OGN), enhancing robotic navigation systems with foundation models t…
cs.RO2024
Efficient and Distributed Large-Scale 3D Map Registration using Tomographic Features
Halil Utku Unlu, Anthony Tzes, Prashanth Krishnamurthy +1
A robust, resource-efficient, distributed, and minimally parameterized 3D map matching and merging algorithm is proposed. The suggested algorithm utilizes tomographic features from…