6 papers
UFM: A Simple Path towards Unified Dense Correspondence with Flow
Yuchen Zhang, Nikhil Keetha, Chenwei Lyu +9
Dense image correspondence is central to many applications, such as visual odometry, 3D reconstruction, object association, and re-identification. Historically, dense correspondenc…
FlowR: Flowing from Sparse to Dense 3D Reconstructions
Tobias Fischer, Samuel Rota Bulò, Yung-Hsu Yang +7
3D Gaussian splatting enables high-quality novel view synthesis (NVS) at real-time frame rates. However, its quality drops sharply as we depart from the training views. Thus, dense…
Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and Avoid
Parv Kapoor, Ian Higgins, Nikhil Keetha +9
Assured safe-separation is essential for achieving seamless high-density operation of airborne vehicles in a shared airspace. To equip resource-constrained aerial systems with this…
RayFronts: Open-Set Semantic Ray Frontiers for Online Scene Understanding and Exploration
Omar Alama, Avigyan Bhattacharya, Haoyang He +6
Open-set semantic mapping is crucial for open-world robots. Current mapping approaches either are limited by the depth range or only map beyond-range entities in constrained settin…
Map It Anywhere (MIA): Empowering Bird's Eye View Mapping using Large-scale Public Data
Cherie Ho, Jiaye Zou, Omar Alama +7
Top-down Bird's Eye View (BEV) maps are a popular representation for ground robot navigation due to their richness and flexibility for downstream tasks. While recent methods have s…
Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis
Yafei Hu, Quanting Xie, Vidhi Jain +20
Building general-purpose robots that operate seamlessly in any environment, with any object, and utilizing various skills to complete diverse tasks has been a long-standing goal in…