5 papers
MonoEM-GS: Monocular Expectation-Maximization Gaussian Splatting SLAM
Evgenii Kruzhkov, Sven Behnke
Feed-forward geometric foundation models can infer dense point clouds and camera motion directly from RGB streams, providing priors for monocular SLAM. However, their predictions a…
OMCL: Open-vocabulary Monte Carlo Localization
Evgenii Kruzhkov, Raphael Memmesheimer, Sven Behnke
Robust robot localization is an important prerequisite for navigation, but it becomes challenging when the map and robot measurements are obtained from different sensors. Prior met…
LiLMaps: Learnable Implicit Language Maps
Evgenii Kruzhkov, Sven Behnke
One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to hav…
Hierarchical Pose Estimation and Mapping with Multi-Scale Neural Feature Fields
Evgenii Kruzhkov, Alena Savinykh, Sven Behnke
Robotic applications require a comprehensive understanding of the scene. In recent years, neural fields-based approaches that parameterize the entire environment have become popula…
RoboCup@Home 2024 OPL Winner NimbRo: Anthropomorphic Service Robots using Foundation Models for Perception and Planning
Raphael Memmesheimer, Jan Nogga, Bastian Pätzold +8
We present the approaches and contributions of the winning team NimbRo@Home at the RoboCup@Home 2024 competition in the Open Platform League held in Eindhoven, NL. Further, we desc…