13 papers · 1 filter
TOLiD: Bridging the Architecture Gap in Vision Foundation Model to LiDAR Pretraining via Token Lifting for Distillation
Sutharsan Mahendran, Darshana Priyasad, Kaushik Roy +4
Cross-modal distillation from Vision Foundation Models (VFMs) to LiDAR backbones has recently emerged as a self-supervised pretraining strategy that reduces reliance on dense point…
Spatially Stratified Distillation for Heterogeneous Radar Place Recognition
Sagun Singh Shrestha, Samuel Harding, Abdelwahed Khamis +2
Scalable, all-weather place recognition increasingly relies on heterogeneous radar place recognition to bridge diverse hardware platforms. A notable application is matching queries…
Visual Place Recognition in Forests with Depth-Aware Distillation
Walter Nedov, Saimunur Rahman, Kavindie Katuwandeniya +3
Visual place recognition in natural forest environments remains challenging due to repetitive vegetation, weak structural cues, and significant appearance variation across traversa…
Cross-Modal Benchmarking for Robotic Perception in Natural Environments
David Hall, Joshua Knights, Mark Cox +1
Natural environments present a complex challenge to robotics perception systems. Current models, particularly vision foundation models, are largely trained on structured, urban env…
Ilov3Splat: Instance-Level Open-Vocabulary 3D Scene Understanding in Gaussian Splatting
Binh Long Nguyen, Kien Nguyen, Sridha Sridharan +2
We introduce Ilov3Splat, a novel framework for instance-level open-vocabulary 3D scene understanding built on 3D Gaussian Splatting (3D-GS). Most prior work depends on 2D rendering…
WildCross: A Cross-Modal Large Scale Benchmark for Place Recognition and Metric Depth Estimation in Natural Environments
Joshua Knights, Joseph Reid, Kaushik Roy +3
Recent years have seen a significant increase in demand for robotic solutions in unstructured natural environments, alongside growing interest in bridging 2D and 3D scene understan…