4 papers
SlugTrails: An Egocentric Benchmark for Floor Plan Localization in Large Buildings
Yunqian Cheng, Roberto Manduchi
Floor-plan-based indoor visual localization enables infrastructure-free positioning, but most methods are developed and evaluated in small residential environments unlike the large…
WildDet3D: Scaling Promptable 3D Detection in the Wild
Weikai Huang, Jieyu Zhang, Sijun Li +15
Understanding objects in 3D from a single image is a cornerstone of spatial intelligence. A key step toward this goal is monocular 3D object detection--recovering the extent, locat…
PALMS+: Modular Image-Based Floor Plan Localization Leveraging Depth Foundation Model
Yunqian Cheng, Benjamin Princen, Roberto Manduchi
Indoor localization in GPS-denied environments is crucial for applications like emergency response and assistive navigation. Vision-based methods such as PALMS enable infrastructur…
PALMS: Plane-based Accessible Indoor Localization Using Mobile Smartphones
Yunqian Cheng, Roberto Manduchi
In this paper, we present PALMS, an innovative indoor global localization and relocalization system for mobile smartphones that utilizes publicly available floor plans. Unlike most…