13 papers
Consistent Distributed Invariant EKF SLAM with Point and Object Features
Mengya Xu, Xianjia Yu, Ha Sier +2
Multi-robot SLAM allows robots to improve their estimates by exchanging map information, but repeated exchanges create unknown correlations between local estimators. Covariance int…
P-POSEMEM: Projective Semantic Memory for Consistent Language Grounding under Pose-Graph Rewrites
Ha Sier, Ali Salmasi, Mengya Xu +5
A robot following language instructions needs its semantic memory to keep naming the same physical object while the SLAM pose graph underneath is optimized, loop-closed and compres…
Beyond Weak Labels: Prompt-Guided Local Refinement for Weakly Supervised Water Segmentation in High-Resolution Multispectral Imagery
Muhammad Farhan Humayun, Mohammad Imangholiloo, Afifah Shah +2
High-resolution water mapping supports environmental monitoring and related applications, but accurate pixel-level labels are difficult and costly to produce. Official hydrographic…
Generalizable 6D Pose Estimation of Textureless Objects with Planar-based Gaussian Splatting
Jie Lu, Hengtan Zhang, Li Gong +7
Estimating the 6D pose of textureless objects without prior CAD models remains a critical challenge due to the lack of appearance features. While recent generalizable approaches al…
FiLM-GPNet: Geometry-Aware Pseudo-Supervised Phase Restoration with Zero-Shot Generalization for Large Temporal InSAR Stacks
Getnet Demil, Muhammad Farhan Humayun, Tomi Westerlund +2
The growing availability of dense commercial Synthetic Aperture Radar (SAR) time series enables temporal Interferometric SAR (InSAR) analysis, but fixed classical filters fail unde…
A Simulation Platform for Flapping-Wing Vehicles
Haichuan Li, Tomi Westerlund
Flapping-wing aerial vehicles (FWAVs) demonstrate remarkable agility but face substantial autonomy challenges due to their high sensitivity to aerodynamic disturbances and limited…
SAFEVPR: Patch-Based Conformal Verification for Safe Cross-Condition Sequence Visual Place Recognition
Ha Sier, Jiaqiang Zhang, Zhuo Zou +2
Sequence-based visual place recognition (VPR) for SLAM and robot relocalization must decide whether the retrieved top-1 candidate is safe to accept. Conformal prediction is a natur…
Riverine Land Cover Mapping through Semantic Segmentation of Multispectral Point Clouds
Sopitta Thurachen, Josef Taher, Matti Lehtomäki +6
Accurate land cover mapping in riverine environments is essential for effective river management, ecological understanding, and geomorphic change monitoring. This study explores th…
Decentralized Intent-Based Multi-Robot Task Planner with LLM Oracles on Hyperledger Fabric
Farhad Keramat, Salma Salimi, Tomi Westerlund
Large language models (LLMs) have opened new opportunities for transforming natural language user intents into executable actions. This capability enables embodied AI agents to per…
INDOOR-LiDAR: Bridging Simulation and Reality for Robot-Centric 360 degree Indoor LiDAR Perception -- A Robot-Centric Hybrid Dataset
Haichuan Li, Changda Tian, Panos Trahanias +1
We present INDOOR-LIDAR, a comprehensive hybrid dataset of indoor 3D LiDAR point clouds designed to advance research in robot perception. Existing indoor LiDAR datasets often suffe…
PhysVarMix: Physics-Informed Variational Mixture Model for Multi-Modal Trajectory Prediction
Haichuan Li, Tomi Westerlund
Accurate prediction of future agent trajectories is a critical challenge for ensuring safe and efficient autonomous navigation, particularly in complex urban environments character…
Co-Win: Joint Object Detection and Instance Segmentation in LiDAR Point Clouds via Collaborative Window Processing
Haichuan Li, Tomi Westerlund
Accurate perception and scene understanding in complex urban environments is a critical challenge for ensuring safe and efficient autonomous navigation. In this paper, we present C…
IndoorBEV: Joint Detection and Footprint Completion of Objects via Mask-based Prediction in Indoor Scenarios for Bird's-Eye View Perception
Haichuan Li, Changda Tian, Panos Trahanias +1
Detecting diverse objects within complex indoor 3D point clouds presents significant challenges for robotic perception, particularly with varied object shapes, clutter, and the co-…