4 papers
Learning to Localize Reference Trajectories in Image-Space for Visual Navigation
Finn Lukas Busch, Matti Vahs, Quantao Yang +4
We present LoTIS, a model for visual navigation that provides robot-agnostic image-space guidance by localizing a reference RGB trajectory in the robot's current view, without requ…
FUS3DMaps: Scalable and Accurate Open-Vocabulary Semantic Mapping by 3D Fusion of Voxel- and Instance-Level Layers
Timon Homberger, Finn Lukas Busch, Jesús Gerardo Ortega Peimbert +2
Open-vocabulary semantic mapping enables robots to spatially ground previously unseen concepts without requiring predefined class sets. Current training-free methods commonly rely…
DIV-Nav: Open-Vocabulary Spatial Relationships for Multi-Object Navigation
Jesús Ortega-Peimbert, Finn Lukas Busch, Timon Homberger +2
Advances in open-vocabulary semantic mapping and object navigation have enabled robots to perform an informed search of their environment for an arbitrary object. However, such zer…
One Map to Find Them All: Real-time Open-Vocabulary Mapping for Zero-shot Multi-Object Navigation
Finn Lukas Busch, Timon Homberger, Jesús Ortega-Peimbert +2
The capability to efficiently search for objects in complex environments is fundamental for many real-world robot applications. Recent advances in open-vocabulary vision models hav…