8 papers
Depth-Only Open-Vocabulary 3D Semantic Segmentation For Privacy-Preserving Robotic Applications
Xuying Huang, Sicong Pan, Maren Bennewitz
Privacy-preserving perception is increasingly important for robotic systems operating in real-world indoor environments, yet it remains underexplored in open-vocabulary 3D semantic…
ObjView-Bench: Rethinking Difficulty and Deployment for Object-Centric View Planning
Sicong Pan, Hao Hu, Xuying Huang +2
Object-centric view planning is a core component of active geometric 3D reconstruction in robotics, yet existing evaluations often conflate object complexity, planning difficulty,…
Designing Privacy-Preserving Visual Perception for Robot Navigation Based on User Privacy Preferences
Xuying Huang, Sicong Pan, Delphine Reinhardt +1
Visual navigation is a fundamental capability of mobile service robots, yet the onboard cameras required for such navigation can capture privacy-sensitive information and raise use…
Efficient View Planning Guided by Previous-Session Reconstruction for Repeated Plant Monitoring
Sicong Pan, Luca Lobefaro, Moein Taherkhani +4
Repeated plant monitoring is essential for tracking crop growth, and 3D reconstruction enables consistent comparison across monitoring sessions. However, rebuilding a 3D model from…
Privacy-Preserving Semantic Segmentation from Ultra-Low-Resolution RGB Inputs
Xuying Huang, Sicong Pan, Olga Zatsarynna +2
RGB-based semantic segmentation has become a mainstream approach for visual perception and is widely applied in a variety of downstream tasks. However, existing methods typically r…
Privacy Risks of Robot Vision: A User Study on Image Modalities and Resolution
Xuying Huang, Sicong Pan, Maren Bennewitz
User privacy is a crucial concern in robotic applications, especially when mobile service robots are deployed in personal or sensitive environments. However, many robotic downstrea…
DM-OSVP++: One-Shot View Planning Using 3D Diffusion Models for Active RGB-Based Object Reconstruction
Sicong Pan, Liren Jin, Xuying Huang +3
Active object reconstruction is crucial for many robotic applications. A key aspect in these scenarios is generating object-specific view configurations to obtain informative measu…
Exploiting Priors from 3D Diffusion Models for RGB-Based One-Shot View Planning
Sicong Pan, Liren Jin, Xuying Huang +3
Object reconstruction is relevant for many autonomous robotic tasks that require interaction with the environment. A key challenge in such scenarios is planning view configurations…