8 papers
PosEviLoc: Position-Conditioned Spatial Evidence for Language-Based 3D Localization
Tianyi Shang, Yike Shi, Zhenyu Li
Language-based 3D localization retrieves the point-cloud submap containing a target position from descriptions of nearby objects and their spatial relations. Existing methods typic…
Adversarial Attacks on Robot Localization Systems via Deep Feature Perturbation
Zhenyu Li, Tianyi Shang
Robot localization systems are critical for autonomous navigation and safety. Adversarial perturbations can mislead these systems, resulting in mislocalization, navigation errors,…
Riemannian and Symplectic Geometry for Hierarchical Text-Driven Place Recognition
Tianyi Shang, Zhenyu Li
Text-to-point-cloud localization enables robots to understand spatial positions through natural language descriptions, which is crucial for human-robot collaboration in application…
SpatiaLoc: Leveraging Multi-Level Spatial Enhanced Descriptors for Cross-Modal Localization
Tianyi Shang, Pengjie Xu, Zhaojun Deng +3
Cross-modal localization using text and point clouds enables robots to localize themselves via natural language descriptions, with applications in autonomous navigation and interac…
A2GC: Asymmetric Aggregation with Geometric Constraints for Locally Aggregated Descriptors
Zhenyu Li, Tianyi Shang
Visual Place Recognition (VPR) aims to match query images against a database using visual cues. State-of-the-art methods aggregate features from deep backbones to form global descr…
OptiCorNet: Optimizing Sequence-Based Context Correlation for Visual Place Recognition
Zhenyu Li, Tianyi Shang, Pengjie Xu +2
Visual Place Recognition (VPR) in dynamic and perceptually aliased environments remains a fundamental challenge for long-term localization. Existing deep learning-based solutions p…
Place Recognition Meet Multiple Modalitie: A Comprehensive Review, Current Challenges and Future Directions
Zhenyu Li, Tianyi Shang, Pengjie Xu +1
Place recognition is a cornerstone of vehicle navigation and mapping, which is pivotal in enabling systems to determine whether a location has been previously visited. This capabil…
Bridging Text and Vision: A Multi-View Text-Vision Registration Approach for Cross-Modal Place Recognition
Tianyi Shang, Zhenyu Li, Pengjie Xu +4
Mobile robots necessitate advanced natural language understanding capabilities to accurately identify locations and perform tasks such as package delivery. However, traditional vis…