5 papers
LEXI-SG: Monocular 3D Scene Graph Mapping with Room-Guided Feed-Forward Reconstruction
Christina Kassab, Hyeonjae Gil, MatÃas Mattamala +2
Scene graphs are becoming a standard representation for robot navigation, providing hierarchical geometric and semantic scene understanding. However, most scene graph mapping metho…
LT-Exosense: A Vision-centric Multi-session Mapping System for Lifelong Safe Navigation of Exoskeletons
Jianeng Wang, Matias Mattamala, Christina Kassab +5
Self-balancing exoskeletons offer a promising mobility solution for individuals with lower-limb disabilities. For reliable long-term operation, these exoskeletons require a percept…
OpenLex3D: A Tiered Evaluation Benchmark for Open-Vocabulary 3D Scene Representations
Christina Kassab, Sacha Morin, Martin Büchner +5
3D scene understanding has been transformed by open-vocabulary language models that enable interaction via natural language. However, at present the evaluation of these representat…
Exosense: A Vision-Based Scene Understanding System For Exoskeletons
Jianeng Wang, Matias Mattamala, Christina Kassab +5
Self-balancing exoskeletons are a key enabling technology for individuals with mobility impairments. While the current challenges focus on human-compliant hardware and control, unl…
The Bare Necessities: Designing Simple, Effective Open-Vocabulary Scene Graphs
Christina Kassab, MatÃas Mattamala, Sacha Morin +4
3D open-vocabulary scene graph methods are a promising map representation for embodied agents, however many current approaches are computationally expensive. In this paper, we reex…