14 papers
TM-APR: Thermal Temporal-Memory Localization via Analytic Online Adaptation
Yanshuo Bai, Kanji Tanaka
Thermal Visual Place Recognition (Thermal VPR) maps camera observations to metric poses within a mapped environment, serving as a prerequisite for autonomous navigation. However, t…
Strategic Transformer for Resource-Constrained Multi-Object Navigation in Ultra-Large-Scale Environments
Daiki Iwata, Kanji Tanaka, Senta Hishida
Resource-constrained multi-object navigation in vast indoor environments () poses significant challenges for efficiency and strategic planning. To tackle this, w…
SLAM: Structured and Localized Analytic Manifold Adaptation for Forgetting-Immune and Domain-Robust Lifelong VPR
Kenta Tsukahara, Kanji Tanaka, Rai Hisada
Visual Place Recognition (VPR) under long-term operation is essential for autonomous mobile robots. While Analytic Class-Incremental Learning (ACIL) provides memory-free () t…
Route-MHT: Multimodal Transformer Guardrails for Thermal Visual Place Recognition
Zhiyuan Lu, Kanji Tanaka
Strong mapped-region thermal visual place recognition (VPR) does not ensure safe rejection of unmapped queries. We identify and quantify this gap in AnyThermal: high Map-In retriev…
From Reactive to Map-Based AI: Tuned Local LLMs for Semantic Zone Inference in Object-Goal Navigation
Yudai Noda, Kanji Tanaka
Object-Goal Navigation (ObjectNav) requires an agent to find and navigate to a target object category in unknown environments. While recent Large Language Model (LLM)-based agents…
MOON: Multi-Objective Optimization-Driven Object-Goal Navigation Using a Variable-Horizon Set-Orienteering Planner
Daigo Nakajima, Kanji Tanaka, Daiki Iwata +1
This paper proposes MOON (Multi-Objective Optimization-driven Object-goal Navigation), a novel framework designed for efficient navigation in large-scale, complex indoor environmen…
LGR: LLM-Guided Ranking of Frontiers for Object Goal Navigation
Mitsuaki Uno, Kanji Tanaka, Daiki Iwata +3
Object Goal Navigation (OGN) is a fundamental task for robots and AI, with key applications such as mobile robot image databases (MRID). In particular, mapless OGN is essential in…
Multi-Robot Data-Free Continual Communicative Learning (CCL) from Black-Box Visual Place Recognition Models
Kenta Tsukahara, Kanji Tanaka, Daiki Iwata +1
In emerging multi-robot societies, heterogeneous agents must continually extract and integrate local knowledge from one another through communication, even when their internal mode…
LMD-PGN: Cross-Modal Knowledge Distillation from First-Person-View Images to Third-Person-View BEV Maps for Universal Point Goal Navigation
Riku Uemura, Kanji Tanaka, Kenta Tsukahara +1
Point goal navigation (PGN) is a mapless navigation approach that trains robots to visually navigate to goal points without relying on pre-built maps. Despite significant progress…
ON as ALC: Active Loop Closing Object Goal Navigation
Daiki Iwata, Kanji Tanaka, Shoya Miyazaki +1
In simultaneous localization and mapping, active loop closing (ALC) is an active vision problem that aims to visually guide a robot to maximize the chances of revisiting previously…
CON: Continual Object Navigation via Data-Free Inter-Agent Knowledge Transfer in Unseen and Unfamiliar Places
Kouki Terashima, Daiki Iwata, Kanji Tanaka
This work explores the potential of brief inter-agent knowledge transfer (KT) to enhance the robotic object goal navigation (ON) in unseen and unfamiliar environments. Drawing on t…
Training Self-localization Models for Unseen Unfamiliar Places via Teacher-to-Student Data-Free Knowledge Transfer
Kenta Tsukahara, Kanji Tanaka, Daiki Iwata
A typical assumption in state-of-the-art self-localization models is that an annotated training dataset is available in the target workspace. However, this does not always hold whe…
Recursive Distillation for Open-Set Distributed Robot Localization
Kenta Tsukahara, Kanji Tanaka
A typical assumption in state-of-the-art self-localization models is that an annotated training dataset is available for the target workspace. However, this is not necessarily true…
Cross-view Self-localization from Synthesized Scene-graphs
Ryogo Yamamoto, Kanji Tanaka
Cross-view self-localization is a challenging scenario of visual place recognition in which database images are provided from sparse viewpoints. Recently, an approach for synthesiz…