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pro vyhledávání: '"Hughes, Nathan"'
Autor:
Maggio, Dominic, Chang, Yun, Hughes, Nathan, Trang, Matthew, Griffith, Dan, Dougherty, Carlyn, Cristofalo, Eric, Schmid, Lukas, Carlone, Luca
Modern tools for class-agnostic image segmentation (e.g., SegmentAnything) and open-set semantic understanding (e.g., CLIP) provide unprecedented opportunities for robot perception and mapping. While traditional closed-set metric-semantic maps were r
Externí odkaz:
http://arxiv.org/abs/2404.13696
We present improvements to Kimera, an open-source metric-semantic visual-inertial SLAM library. In particular, we enhance Kimera-VIO, the visual-inertial odometry pipeline powering Kimera, to support better feature tracking, more efficient keyframe s
Externí odkaz:
http://arxiv.org/abs/2401.06323
This paper proposes an approach to build 3D scene graphs in arbitrary indoor and outdoor environments. Such extension is challenging; the hierarchy of concepts that describe an outdoor environment is more complex than for indoors, and manually defini
Externí odkaz:
http://arxiv.org/abs/2312.11713
Autor:
Hughes, Nathan
We answer a question raised by Alam and Ghosh concerning an error term for a spiralling result in Diophantine approximation by rationals in a number field. The proof relies on a generalisation of Rogers' Mean Value Theorem to algebraic number fields
Externí odkaz:
http://arxiv.org/abs/2306.02499
Autor:
Hughes, Nathan, Chang, Yun, Hu, Siyi, Talak, Rajat, Abdulhai, Rumaisa, Strader, Jared, Carlone, Luca
3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge. Despite the fast-paced progress in robot perception, most existing met
Externí odkaz:
http://arxiv.org/abs/2305.07154
3D scene graphs have recently emerged as an expressive high-level map representation that describes a 3D environment as a layered graph where nodes represent spatial concepts at multiple levels of abstraction (e.g., objects, rooms, buildings) and edg
Externí odkaz:
http://arxiv.org/abs/2304.13487
Autor:
Hughes, Nathan
3D scene graphs have emerged as a powerful map representation for robotics. Scene graphs encode spatial and semantic concepts at multiple levels of abstraction as nodes in a graph, and use edges to represent relationships. Such representations offer
3D scene graphs have recently emerged as a powerful high-level representation of 3D environments. A 3D scene graph describes the environment as a layered graph where nodes represent spatial concepts at multiple levels of abstraction and edges represe
Externí odkaz:
http://arxiv.org/abs/2201.13360
Autor:
Hughes, Nathan
Given $d\geq 2$, we show that the number of approximates $\frac{1}{q}\mathbf{p}\in \mathbb{Q}^d$ of $\mathbf{x}\in\mathbb{R}^d$ satisfying $|q\mathbf{x}-\mathbf{p}|\leq cq^{-\frac{1}{d}}$ with denominator $1\leq q < T$ decays to the asymptotic term $
Externí odkaz:
http://arxiv.org/abs/2201.06168
Publikováno v:
In Applied Ergonomics July 2024 118