2 papers
cs.CV2025
VISTA: Monocular Segmentation-Based Mapping for Appearance and View-Invariant Global Localization
Hannah Shafferman, Annika Thomas, Jouko Kinnari +3
Global localization is critical for autonomous navigation, particularly in scenarios where an agent must localize within a map generated in a different session or by another agent,…
cs.RO2024
SOS-Match: Segmentation for Open-Set Robust Correspondence Search and Robot Localization in Unstructured Environments
Annika Thomas, Jouko Kinnari, Parker Lusk +2
We present SOS-Match, a novel framework for detecting and matching objects in unstructured environments. Our system consists of 1) a front-end mapping pipeline using a zero-shot se…