84 citations · 96 across the 8 of their papers we have counts for
8 papers
Show, Don't Tell: Detecting Novel Objects by Watching Human Videos
James Akl, Jose Nicolas Avendano Arbelaez, James Barabas +16
How can a robot quickly identify and recognize new objects shown to it during a human demonstration? Existing closed-set object detectors frequently fail at this because the object…
Eliminating Cross-modal Conflicts in BEV Space for LiDAR-Camera 3D Object Detection
Jiahui Fu, Chen Gao, Zitian Wang +4
Recent 3D object detectors typically utilize multi-sensor data and unify multi-modal features in the shared bird's-eye view (BEV) representation space. However, our empirical findi…
NeuSE: Neural SE(3)-Equivariant Embedding for Long-Term Object-Based Simultaneous Localization and Mapping
Jiahui Fu, Yilun Du, Kurran Singh +2
We present NeuSE, a novel Neural SE(3)-Equivariant Embedding for objects, and illustrate how it supports object-based Simultaneous Localization and Mapping (SLAM) for consistent sp…
Object as Query: Lifting any 2D Object Detector to 3D Detection
Zitian Wang, Zehao Huang, Jiahui Fu +2
3D object detection from multi-view images has drawn much attention over the past few years. Existing methods mainly establish 3D representations from multi-view images and adopt a…
Robust Change Detection Based on Neural Descriptor Fields
Jiahui Fu, Yilun Du, Kurran Singh +2
The ability to reason about changes in the environment is crucial for robots operating over extended periods of time. Agents are expected to capture changes during operation so tha…
PlaneSDF-based Change Detection for Long-term Dense Mapping
Jiahui Fu, Chengyuan Lin, Yuichi Taguchi +4
The ability to process environment maps across multiple sessions is critical for robots operating over extended periods of time. Specifically, it is desirable for autonomous agents…
3D-SPS: Single-Stage 3D Visual Grounding via Referred Point Progressive Selection
Junyu Luo, Jiahui Fu, Xianghao Kong +5
3D visual grounding aims to locate the referred target object in 3D point cloud scenes according to a free-form language description. Previous methods mostly follow a two-stage par…
A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM
Jiahui Fu, Qiangqiang Huang, Kevin Doherty +2
In object-based Simultaneous Localization and Mapping (SLAM), 6D object poses offer a compact representation of landmark geometry useful for downstream planning and manipulation ta…