88 citations · 156 across the 12 of their papers we have counts for
13 papers
Semantic Prioritization in Visual Counterfactual Explanations with Weighted Segmentation and Auto-Adaptive Region Selection
Lintong Zhang, Kang Yin, Seong-Whan Lee
In the domain of non-generative visual counterfactual explanations (CE), traditional techniques frequently involve the substitution of sections within a query image with correspond…
Towards Fine-Grained Interpretability: Counterfactual Explanations for Misclassification with Saliency Partition
Lintong Zhang, Kang Yin, Seong-Whan Lee
Attribution-based explanation techniques capture key patterns to enhance visual interpretability; however, these patterns often lack the granularity needed for insight in fine-grai…
PlanarMesh: Building Compact 3D Meshes from LiDAR using Incremental Adaptive Resolution Reconstruction
Jiahao Wang, Nived Chebrolu, Yifu Tao +3
Building an online 3D LiDAR mapping system that produces a detailed surface reconstruction while remaining computationally efficient is a challenging task. In this paper, we presen…
The Oxford Spires Dataset: Benchmarking Large-Scale LiDAR-Visual Localisation, Reconstruction and Radiance Field Methods
Yifu Tao, Miguel Ángel Muñoz-Bañón, Lintong Zhang +3
This paper introduces a large-scale multi-modal dataset captured in and around well-known landmarks in Oxford using a custom-built multi-sensor perception unit as well as a millime…
Visual Localization in 3D Maps: Comparing Point Cloud, Mesh, and NeRF Representations
Lintong Zhang, Yifu Tao, Jiarong Lin +2
Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representation…
LiSTA: Geometric Object-Based Change Detection in Cluttered Environments
Joseph Rowell, Lintong Zhang, Maurice Fallon
We present LiSTA (LiDAR Spatio-Temporal Analysis), a system to detect probabilistic object-level change over time using multi-mission SLAM. Many applications require such a system,…
Exosense: A Vision-Based Scene Understanding System For Exoskeletons
Jianeng Wang, Matias Mattamala, Christina Kassab +5
Self-balancing exoskeletons are a key enabling technology for individuals with mobility impairments. While the current challenges focus on human-compliant hardware and control, unl…
Language-EXtended Indoor SLAM (LEXIS): A Versatile System for Real-time Visual Scene Understanding
Christina Kassab, Matias Mattamala, Lintong Zhang +1
Versatile and adaptive semantic understanding would enable autonomous systems to comprehend and interact with their surroundings. Existing fixed-class models limit the adaptability…
InstaLoc: One-shot Global Lidar Localisation in Indoor Environments through Instance Learning
Lintong Zhang, Tejaswi Digumarti, Georgi Tinchev +1
Localization for autonomous robots in prior maps is crucial for their functionality. This paper offers a solution to this problem for indoor environments called InstaLoc, which ope…
Hilti-Oxford Dataset: A Millimetre-Accurate Benchmark for Simultaneous Localization and Mapping
Lintong Zhang, Michael Helmberger, Lanke Frank Tarimo Fu +4
Simultaneous Localization and Mapping (SLAM) is being deployed in real-world applications, however many state-of-the-art solutions still struggle in many common scenarios. A key ne…
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned
Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter +33
This article presents the CERBERUS robotic system-of-systems, which won the DARPA Subterranean Challenge Final Event in 2021. The Subterranean Challenge was organized by DARPA with…
Multi-Camera LiDAR Inertial Extension to the Newer College Dataset
Lintong Zhang, Marco Camurri, David Wisth +1
We present a multi-camera LiDAR inertial dataset of 4.5 km walking distance as an expansion of the Newer College Dataset. The global shutter multi-camera device is hardware synchro…
Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry
Lintong Zhang, David Wisth, Marco Camurri +1
We present a multi-camera visual-inertial odometry system based on factor graph optimization which estimates motion by using all cameras simultaneously while retaining a fixed over…