2 citations · 5 across the 8 of their papers we have counts for
9 papers
FOUND-IT: Foundation-model-first Task-driven 3D Scene Graphs with Granularity on Demand
Dominic Maggio, Nicolas Gorlo, Kris Hauser +1
We present the first approach to build hierarchical task-driven 3D scene graphs of arbitrary indoor or outdoor environments using an uncalibrated monocular camera in real-time. We…
VGGT-SLAM 2.0: Real-time Dense Feed-forward Scene Reconstruction
Dominic Maggio, Luca Carlone
We present VGGT-SLAM 2.0, a real-time RGB feed-forward SLAM system which substantially improves upon VGGT-SLAM for incrementally aligning submaps created from VGGT. Firstly, we rem…
VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifold
Dominic Maggio, Hyungtae Lim, Luca Carlone
We present VGGT-SLAM, a dense RGB SLAM system constructed by incrementally and globally aligning submaps created from the feed-forward scene reconstruction approach VGGT using only…
Bayesian Fields: Task-driven Open-Set Semantic Gaussian Splatting
Dominic Maggio, Luca Carlone
Open-set semantic mapping requires (i) determining the correct granularity to represent the scene (e.g., how should objects be defined), and (ii) fusing semantic knowledge across m…
Clio: Real-time Task-Driven Open-Set 3D Scene Graphs
Dominic Maggio, Yun Chang, Nathan Hughes +6
Modern tools for class-agnostic image segmentation (e.g., SegmentAnything) and open-set semantic understanding (e.g., CLIP) provide unprecedented opportunities for robot perception…
VERF: Runtime Monitoring of Pose Estimation with Neural Radiance Fields
Dominic Maggio, Courtney Mario, Luca Carlone
We present VERF, a collection of two methods (VERF-PnP and VERF-Light) for providing runtime assurance on the correctness of a camera pose estimate of a monocular camera without re…
Vision-Based Terrain Relative Navigation on High-Altitude Balloon and Sub-Orbital Rocket
Dominic Maggio, Courtney Mario, Brett Streetman +2
We present an experimental analysis on the use of a camera-based approach for high-altitude navigation by associating mapped landmarks from a satellite image database to camera ima…
A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training
Jingnan Shi, Rajat Talak, Dominic Maggio +1
Real-world robotics applications demand object pose estimation methods that work reliably across a variety of scenarios. Modern learning-based approaches require large labeled data…
Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields
Dominic Maggio, Marcus Abate, Jingnan Shi +2
We present Loc-NeRF, a real-time vision-based robot localization approach that combines Monte Carlo localization and Neural Radiance Fields (NeRF). Our system uses a pre-trained Ne…