6 papers
MuViSeg: Multi-View Segment Correspondences from Dense Geometry Priors
Denis Fatykhoph, Timur Akhtyamov, Konstantin Pakulev +2
Object-level mapping and topological navigation reason about whole objects, yet the correspondences they rely on are computed over keypoints or pixels and only aggregated into obje…
Spatiotemporal Knowledge Graphs as Persistent Scene Memory for Embodied Question Answering
Mohamad Al Mdfaa, Svetlana Lukina, Timur Akhtyamov +4
Vision-language models (VLMs) demonstrate strong image-level scene understanding, but reasoning over long egocentric video remains costly: because VLMs maintain no persistent memor…
PixelNav: Towards Model-based Vision-Only Navigation with Topological Graphs
Sergey Bakulin, Timur Akhtyamov, Denis Fatykhov +2
This work proposes a novel hybrid approach for vision-only navigation of mobile robots, which combines advances of both deep learning approaches and classical model-based planning…
EgoWalk: A Multimodal Dataset for Robot Navigation in the Wild
Timur Akhtyamov, Mohamad Al Mdfaa, Javier Antonio Ramirez Benavides +11
Data-driven navigation algorithms are critically dependent on large-scale, high-quality real-world data collection for successful training and robust performance in realistic and u…
Social Robot Navigation through Constrained Optimization: a Comparative Study of Uncertainty-based Objectives and Constraints
Timur Akhtyamov, Aleksandr Kashirin, Aleksey Postnikov +1
This work is dedicated to the study of how uncertainty estimation of the human motion prediction can be embedded into constrained optimization techniques, such as Model Predictive…
SmartPortraits: Depth Powered Handheld Smartphone Dataset of Human Portraits for State Estimation, Reconstruction and Synthesis
Anastasiia Kornilova, Marsel Faizullin, Konstantin Pakulev +6
We present a dataset of 1000 video sequences of human portraits recorded in real and uncontrolled conditions by using a handheld smartphone accompanied by an external high-quality…