5 papers
PriorEye: Geospatial Visual Priors for End-to-End Autonomous Driving
Kyuhwan Yeon, Benjamin Ramtoula, Daniele De Martini
Most end-to-end autonomous driving methods rely solely on instantaneous sensor observations, limiting them to reactive behavior without the anticipatory foresight human drivers emp…
Beyond a Shadow of a Doubt: Close Proximity Geometry Reconstruction Using FMCW Radar Shadow Effects
Felix de Trogoff du Boisguezennec, Benjamin Ramtoula, Daniele De Martini
Reliable perception in adverse conditions remains challenging for autonomous systems, as cameras and LiDAR degrade in poor lighting or weather. Millimetre-wave FMCW radar is robust…
Multi-Robot Planning and Control from CCTV Camera Networks in a Real Warehouse
Luke Robinson, Benjamin Ramtoula, Anas Izaaryene +2
Off-board control of mobile robots from cameras embedded in the environment offers a practical path to scalable autonomy, moving sensing and compute off the robots. We extend this…
3D Foundation Model-Based Loop Closing for Decentralized Collaborative SLAM
Pierre-Yves Lajoie, Benjamin Ramtoula, Daniele De Martini +1
Decentralized Collaborative Simultaneous Localization And Mapping (C-SLAM) techniques often struggle to identify map overlaps due to significant viewpoint variations among robots.…
Fantastic Features and Where to Find Them: A Probing Method to combine Features from Multiple Foundation Models
Benjamin Ramtoula, Pierre-Yves Lajoie, Paul Newman +1
Foundation models (FMs) trained with different objectives and data learn diverse representations, making some more effective than others for specific downstream tasks. Existing ada…