4 papers
PixelLoop: Shortcut Topological Navigation with Pixel-Level Loops
Sarthak Chittawar, Vansh Garg, Aditya Vadali +4
Although topological mapping and navigation have been studied extensively, the specific role and downstream effect of loop closures in purely topological representations has receiv…
MASt3R-Nav: WayPixel Navigation in Relative 3D Maps
Vansh Garg, Rohit Jayanti, Krish Pandya +5
Visual navigation ability is strongly tied to its underlying representation of the world. Unlike classical 3D maps that require globally-consistent geometry, image- or object-relat…
SegMASt3R: Geometry Grounded Segment Matching
Rohit Jayanti, Swayam Agrawal, Vansh Garg +4
Segment matching is an important intermediate task in computer vision that establishes correspondences between semantically or geometrically coherent regions across images. Unlike…
QueSTMaps: Queryable Semantic Topological Maps for 3D Scene Understanding
Yash Mehan, Kumaraditya Gupta, Rohit Jayanti +3
Robotic tasks such as planning and navigation require a hierarchical semantic understanding of a scene, which could include multiple floors and rooms. Current methods primarily foc…