5 papers · 1 filter
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…