2 citations · 5 across the 8 of their papers we have counts for
4 papers · 1 filter
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…
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…
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…