5 papers
FOUND-IT: Foundation-model-first Task-driven 3D Scene Graphs with Granularity on Demand
Dominic Maggio, Nicolas Gorlo, Kris Hauser +1
We present the first approach to build hierarchical task-driven 3D scene graphs of arbitrary indoor or outdoor environments using an uncalibrated monocular camera in real-time. We…
VGGT-SLAM 2.0: Real-time Dense Feed-forward Scene Reconstruction
Dominic Maggio, Luca Carlone
We present VGGT-SLAM 2.0, a real-time RGB feed-forward SLAM system which substantially improves upon VGGT-SLAM for incrementally aligning submaps created from VGGT. Firstly, we rem…
VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifold
Dominic Maggio, Hyungtae Lim, Luca Carlone
We present VGGT-SLAM, a dense RGB SLAM system constructed by incrementally and globally aligning submaps created from the feed-forward scene reconstruction approach VGGT using only…
Bayesian Fields: Task-driven Open-Set Semantic Gaussian Splatting
Dominic Maggio, Luca Carlone
Open-set semantic mapping requires (i) determining the correct granularity to represent the scene (e.g., how should objects be defined), and (ii) fusing semantic knowledge across m…
Clio: Real-time Task-Driven Open-Set 3D Scene Graphs
Dominic Maggio, Yun Chang, Nathan Hughes +6
Modern tools for class-agnostic image segmentation (e.g., SegmentAnything) and open-set semantic understanding (e.g., CLIP) provide unprecedented opportunities for robot perception…