8 papers
Cyclops: LiDAR as a Camera That Dreams in Color
Wei Gao, Jian Shu, Mingle Zhao +4
Conventionally, robotic perception relies heavily on cameras due to the rich semantic texture they provide. However, their performance degrades significantly in low-light or high-d…
SignNav: Leveraging Signage for Semantic Visual Navigation in Large-Scale Indoor Environments
Jian Sun, Yuming Huang, He Li +6
Humans routinely leverage semantic hints provided by signage to navigate to destinations within novel Large-Scale Indoor (LSI) environments, such as hospitals and airport terminals…
REST: Receding Horizon Explorative Steiner Tree for Zero-Shot Object-Goal Navigation
Shuqi Xiao, Maani Ghaffari, Chengzhong Xu +1
Zero-shot object-goal navigation (ZSON) requires navigating unknown environments to find a target object without task-specific training. Prior hierarchical solutions mainly focus o…
Super LiDAR Intensity for Robotic Perception
Wei Gao, Jie Zhang, Mingle Zhao +6
Conventionally, human intuition defines vision as a modality of passive optical sensing, relying on ambient light to perceive the environment. However, active optical sensing, whic…
Learning Orientation Field for OSM-Guided Autonomous Navigation
Yuming Huang, Wei Gao, Zhiyuan Zhang +4
OpenStreetMap (OSM) has gained popularity recently in autonomous navigation due to its public accessibility, lower maintenance costs, and broader geographical coverage. However, ex…
Night-Voyager: Consistent and Efficient Nocturnal Vision-Aided State Estimation in Object Maps
Tianxiao Gao, Mingle Zhao, Chengzhong Xu +1
Accurate and robust state estimation at nighttime is essential for autonomous robotic navigation to achieve nocturnal or round-the-clock tasks. An intuitive question arises: Can lo…
UMAD: University of Macau Anomaly Detection Benchmark Dataset
Dong Li, Lineng Chen, Cheng-Zhong Xu +1
Anomaly detection is critical in surveillance systems and patrol robots by identifying anomalous regions in images for early warning. Depending on whether reference data are utiliz…
Active Loop Closure for OSM-guided Robotic Mapping in Large-Scale Urban Environments
Wei Gao, Zezhou Sun, Mingle Zhao +2
The autonomous mapping of large-scale urban scenes presents significant challenges for autonomous robots. To mitigate the challenges, global planning, such as utilizing prior GPS t…