7 papers
Privacy-Preserving Depth-Only Open-Vocabulary 3D Semantic Segmentation Via Uncertainty-Guided Test-Time Optimization
Xuying Huang, Sicong Pan, Maren Bennewitz
Privacy-preserving perception is a critical requirement for deploying 3D scene understanding systems in real-world indoor environments, yet it remains underexplored in open-vocabul…
Designing Privacy-Preserving Visual Perception for Robot Navigation Based on User Privacy Preferences
Xuying Huang, Sicong Pan, Delphine Reinhardt +1
Visual navigation is a fundamental capability of mobile service robots, yet the onboard cameras required for such navigation can capture privacy-sensitive information and raise use…
ObjView-Bench: Rethinking Difficulty and Deployment for Object-Centric View Planning
Sicong Pan, Hao Hu, Xuying Huang +2
Object-centric view planning is a core component of active geometric 3D reconstruction in robotics, yet existing evaluations often conflate object complexity, planning difficulty,…
Privacy-Preserving Semantic Segmentation from Ultra-Low-Resolution RGB Inputs
Xuying Huang, Sicong Pan, Olga Zatsarynna +2
RGB-based semantic segmentation has become a mainstream approach for visual perception and is widely applied in a variety of downstream tasks. However, existing methods typically r…
Efficient View Planning Guided by Previous-Session Reconstruction for Repeated Plant Monitoring
Sicong Pan, Luca Lobefaro, Moein Taherkhani +4
Repeated plant monitoring is essential for tracking crop growth, and 3D reconstruction enables consistent comparison across monitoring sessions. However, rebuilding a 3D model from…
Privacy Risks of Robot Vision: A User Study on Image Modalities and Resolution
Xuying Huang, Sicong Pan, Maren Bennewitz
User privacy is a crucial concern in robotic applications, especially when mobile service robots are deployed in personal or sensitive environments. However, many robotic downstrea…