5 papers
SGM-SLAM: Scene Graph Matching for Data-Efficient Distributed SLAM
Yewei Huang, Tixiao Shan, Abhinav Rajvanshi +4
We introduce a data-efficient distributed Simultaneous Localization and Mapping (SLAM) framework designed for a team of robots equipped with LiDAR, cameras, and inertial sensors. O…
SayCoNav: Utilizing Large Language Models for Adaptive Collaboration in Decentralized Multi-Robot Navigation
Abhinav Rajvanshi, Pritish Sahu, Tixiao Shan +2
Adaptive collaboration is critical to a team of autonomous robots to perform complicated navigation tasks in large-scale unknown environments. An effective collaboration strategy s…
Graph2Nav: 3D Object-Relation Graph Generation to Robot Navigation
Tixiao Shan, Abhinav Rajvanshi, Niluthpol Mithun +1
We propose Graph2Nav, a real-time 3D object-relation graph generation framework, for autonomous navigation in the real world. Our framework fully generates and exploits both 3D obj…
DUDA: Distilled Unsupervised Domain Adaptation for Lightweight Semantic Segmentation
Beomseok Kang, Niluthpol Chowdhury Mithun, Abhinav Rajvanshi +2
Unsupervised Domain Adaptation (UDA) is essential for enabling semantic segmentation in new domains without requiring costly pixel-wise annotations. State-of-the-art (SOTA) UDA met…
GFM4MPM: Towards Geospatial Foundation Models for Mineral Prospectivity Mapping
Angel Daruna, Vasily Zadorozhnyy, Georgina Lukoczki +1
Machine Learning (ML) for Mineral Prospectivity Mapping (MPM) remains a challenging problem as it requires the analysis of associations between large-scale multi-modal geospatial d…