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Building 3D maps of the environment is central to robot navigation, planning, and interaction with objects in a scene.
A volumetric method for building complex models from range images
Brian Curless and Marc Levoy · 1996
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Autonomous automobile trajectory tracking for off-road driving: Controller design, experimental validation and racing
Gabriel M. Hoffmann, Claire J. Tomlin, Michael Montemerlo, and Sebastian Thrun · 2007
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Optimal trajectory generation for dynamic street scenarios in a frenet frame
Moritz Werling, Julius Ziegler, Sören Kammel, and Sebastian Thrun · 2010
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Kinectfusion: Real-time dense surface mapping and tracking
Richard A. Newcombe, Shahram Izadi, Otmar Hilliges, David Molyneaux, David Kim, Andrew J. Davison, Pushmeet Kohi, Jamie Shotton, Steve Hodges, and Andrew Fitzgibbon · 2011
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Kintinuous: Spatially extended kinectfusion
Thomas Whelan, John McDonald, Michael Kaess, Maurice Fallon, Hordur Johannsson, and John J. Leonard · 2012
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Slam++: Simultaneous localisation and mapping at the level of objects
Renato F Salas-Moreno, Richard A Newcombe, Hauke Strasdat, Paul HJ Kelly, and Andrew J Davison · 2013
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Real-time 3d reconstruction in dynamic scenes using point-based fusion
Maik Keller, Damien Lefloch, Martin Lambers, Shahram Izadi, Tim Weyrich, and Andreas Kolb · 2013
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A benchmark for RGB-D visual odometry, 3D reconstruction and SLAM
A. Handa, T. Whelan, J.B. McDonald, and A.J. Davison · 2014
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The semantic paintbrush: Interactive 3d mapping and recognition in large outdoor spaces
Ondrej Miksik, Vibhav Vineet, Morten Lidegaard, Ram Prasaath, Matthias Nießner, Stuart Golodetz, Stephen L Hicks, Patrick Pérez, Shahram Izadi, and Philip HS Torr · 2015
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Microsoft coco captions: Data collection and evaluation server
Xinlei Chen, Hao Fang, Tsung-Yi Lin, Ramakrishna Vedantam, Saurabh Gupta, Piotr Dollár, and C Lawrence Zitnick · 2015
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Elasticfusion: Real-time dense SLAM and light source estimation
Thomas Whelan, Renato F. Salas-Moreno, Ben Glocker, Andrew J. Davison, and Stefan Leutenegger · 2016
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The ai alignment problem: why it is hard, and where to start
Eliezer Yudkowsky · 2016
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Semanticfusion: Dense 3d semantic mapping with convolutional neural networks
John McCormac, Ankur Handa, Andrew Davison, and Stefan Leutenegger · 2017
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Open vocabulary scene parsing
Hang Zhao, Xavier Puig, Bolei Zhou, Sanja Fidler, and Antonio Torralba · 2017
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Bundlefusion: Real-time globally consistent 3d reconstruction using on-the-fly surface re-integration
Angela Dai, Matthias Nießner, Michael Zollöfer, Shahram Izadi, and Christian Theobalt · 2017
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Colored point cloud registration revisited
Jaesik Park, Qian-Yi Zhou, and Vladlen Koltun · 2017
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Scannet: Richly-annotated 3d reconstructions of indoor scenes
Angela Dai, Angel X. Chang, Manolis Savva, Maciej Halber, Thomas Funkhouser, and Matthias Nießner · 2017
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AI2-THOR: An Interactive 3D Environment for Visual AI
Eric Kolve, Roozbeh Mottaghi, Winson Han, Eli VanderBilt, Luca Weihs, Alvaro Herrasti, Daniel Gordon, Yuke Zhu, Abhinav Gupta, and Ali Farhadi · 2017
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Audio set: An ontology and human-labeled dataset for audio events
Jort F. Gemmeke, Daniel P. W. Ellis, Dylan Freedman, Aren Jansen, Wade Lawrence, R. Channing Moore, Manoj Plakal, and Marvin Ritter · 2017
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Lego-loam: Lightweight and ground-optimized lidar odometry and mapping on variable terrain
Tixiao Shan and Brendan Englot · 2018
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Sentence-bert: Sentence embeddings using siamese bert-networks
Nils Reimers and Iryna Gurevych · 2019
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The Replica dataset: A digital replica of indoor spaces
Julian Straub, Thomas Whelan, Lingni Ma, Yufan Chen, Erik Wijmans, Simon Green, Jakob J. Engel, Raul Mur-Artal, Carl Ren, Shobhit Verma, Anton Clarkson, Mingfei Yan, Brian Budge, Yajie Yan, Xiaqing Pan, June Yon, Yuyang Zou, Kimberly Leon, Nigel Carter, Jesus Briales, Tyler Gillingham, Elias Mueggler, Luis Pesqueira, Manolis Savva, Dhruv Batra, Hauke M. Strasdat, Renzo De Nardi, Michael Goesele, Steven Lovegrove, and Richard Newcombe · 2019
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SemanticKITTI: A Dataset for Semantic Scene Understanding of LiDAR Sequences
J. Behley, M. Garbade, A. Milioto, J. Quenzel, S. Behnke, C. Stachniss, and J. Gall · 2019
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Pytorch: An imperative style, high-performance deep learning library
Adam Paszke, Sam Gross, Francisco Massa, Adam Lerer, James Bradbury, Gregory Chanan, Trevor Killeen, Zeming Lin, Natalia Gimelshein, Luca Antiga, Alban Desmaison, Andreas Kopf, Edward Yang, Zachary DeVito, Martin Raison, Alykhan Tejani, Sasank Chilamkurthy, Benoit Steiner, Lu Fang, Junjie Bai, and Soumith Chintala · 2019
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D3vo: Deep depth, deep pose and deep uncertainty for monocular visual odometry
Nan Yang, Lukas von Stumberg, Rui Wang, and Daniel Cremers · 2020
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3d dynamic scene graphs: Actionable spatial perception with places, objects, and humans
Antoni Rosinol, Arjun Gupta, Marcus Abate, Jingnan Shi, and Luca Carlone · 2020
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Robots that use language
Stefanie Tellex, Nakul Gopalan, Hadas Kress-Gazit, and Cynthia Matuszek · 2020
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Yonatan Bisk, Ari Holtzman, Jesse Thomason, Jacob Andreas, Yoshua Bengio, Joyce Chai, Mirella Lapata, Angeliki Lazaridou, Jonathan May, Aleksandr Nisnevich, et al · 2020
Cited alongside, same era.
Language models are few-shot learners
Tom Brown, Benjamin Mann, Nick Ryder, Melanie Subbiah, Jared D Kaplan, Prafulla Dhariwal, Arvind Neelakantan, Pranav Shyam, Girish Sastry, Amanda Askell, et al · 2020
Cited alongside, same era.
∇ \nabla slam: Dense slam meets automatic differentiation
Krishna Murthy Jatavallabhula, Ganesh Iyer, and Liam Paull · 2020
Cited alongside, same era.
Artificial intelligence, values, and alignment
Iason Gabriel · 2020
Cited alongside, same era.
On the opportunities and risks of foundation models
Rishi Bommasani, Drew A Hudson, Ehsan Adeli, Russ Altman, Simran Arora, Sydney von Arx, Michael S Bernstein, Jeannette Bohg, Antoine Bosselut, Emma Brunskill, et al · 2021
Cited alongside, same era.
Regionclip: Region-based language-image pretraining
Yiwu Zhong, Jianwei Yang, Pengchuan Zhang, Chunyuan Li, Noel Codella, Liunian Harold Li, Luowei Zhou, Xiyang Dai, Lu Yuan, Yin Li, et al · 2022
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Language-driven semantic segmentation
Boyi Li, Kilian Q. Weinberger, Serge J. Belongie, Vladlen Koltun, and René Ranftl · 2022
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Open-vocabulary semantic segmentation with mask-adapted clip
Feng Liang, Bichen Wu, Xiaoliang Dai, Kunpeng Li, Yinan Zhao, Hang Zhang, Peizhao Zhang, Peter Vajda, and Diana Marculescu · 2022
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ilabel: Revealing objects in neural fields
Shuaifeng Zhi, Edgar Sucar, Andre Mouton, Iain Haughton, Tristan Laidlow, and Andrew J Davison · 2022
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Do as i can and not as i say: Grounding language in robotic affordances
Michael Ahn, Anthony Brohan, Noah Brown, Yevgen Chebotar, Omar Cortes, Byron David, Chelsea Finn, Chuyuan Fu, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Daniel Ho, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Eric Jang, Rosario Jauregui Ruano, Kyle Jeffrey, Sally Jesmonth, Nikhil Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Kuang-Huei Lee, Sergey Levine, Yao Lu, Linda Luu, Carolina Parada, Peter Pastor, Jornell Quiambao, Kanishka Rao, Jarek Rettinghouse, Diego Reyes, Pierre Sermanet, Nicolas Sievers, Clayton Tan, Alexander Toshev, Vincent Vanhoucke, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Mengyuan Yan, and Andy Zeng · 2022
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Learning transferable visual models from natural language supervision
Alec Radford, Jong Wook Kim, Chris Hallacy, Aditya Ramesh, Gabriel Goh, Sandhini Agarwal, Girish Sastry, Amanda Askell, Pamela Mishkin, Jack Clark, Gretchen Krueger, and Ilya Sutskever · 2021
Cited alongside, same era.
Emerging properties in self-supervised vision transformers
Mathilde Caron, Hugo Touvron, Ishan Misra, Hervé Jegou, Julien Mairal, Piotr Bojanowski, and Armand Joulin · 2021
Cited alongside, same era.
Audioclip: Extending clip to image, text and audio, 2021
Andrey Guzhov, Federico Raue, Jörn Hees, and Andreas Dengel · 2021
Cited alongside, same era.
Scaling up visual and vision-language representation learning with noisy text supervision
Chao Jia, Yinfei Yang, Ye Xia, Yi-Ting Chen, Zarana Parekh, Hieu Pham, Quoc Le, Yun-Hsuan Sung, Zhen Li, and Tom Duerig · 2021
Cited alongside, same era.
Zero-shot text-to-image generation
Aditya Ramesh, Mikhail Pavlov, Gabriel Goh, Scott Gray, Chelsea Voss, Alec Radford, Mark Chen, and Ilya Sutskever · 2021
Cited alongside, same era.
Styleclip: Text-driven manipulation of stylegan imagery
Or Patashnik, Zongze Wu, Eli Shechtman, Daniel Cohen-Or, and Dani Lischinski · 2021
Cited alongside, same era.
Open-vocabulary object detection via vision and language knowledge distillation
Xiuye Gu, Tsung-Yi Lin, Weicheng Kuo, and Yin Cui · 2021
Cited alongside, same era.
Later among the works it cites.
Rt-1: Robotics transformer for real-world control at scale
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Joseph Dabis, Chelsea Finn, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Tomas Jackson, Sally Jesmonth, Nikhil Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Kuang-Huei Lee, Sergey Levine, Yao Lu, Utsav Malla, Deeksha Manjunath, Igor Mordatch, Ofir Nachum, Carolina Parada, Jodilyn Peralta, Emily Perez, Karl Pertsch, Jornell Quiambao, Kanishka Rao, Michael Ryoo, Grecia Salazar, Pannag Sanketi, Kevin Sayed, Jaspiar Singh, Sumedh Sontakke, Austin Stone, Clayton Tan, Huong Tran, Vincent Vanhoucke, Steve Vega, Quan Vuong, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, and Brianna Zitkovich · 2022
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Pre-trained language models for interactive decision-making
Shuang Li, Xavier Puig, Yilun Du, Clinton Wang, Ekin Akyurek, Antonio Torralba, Jacob Andreas, and Igor Mordatch · 2022
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Detecting twenty-thousand classes using image-level supervision
Xingyi Zhou, Rohit Girdhar, Armand Joulin, Philipp Krähenbühl, and Ishan Misra · 2022
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Clip-fields: Weakly supervised semantic fields for robotic memory, 2022
2022
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Robotic Navigation with Large Pre-Trained Models of Language, Vision, and Action
Dhruv Shah, Blazej Osinski, Brian Ichter, and Sergey Levine · 2022
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Clip on wheels: Zero-shot object navigation as object localization and exploration
Samir Yitzhak Gadre, Mitchell Wortsman, Gabriel Ilharco, Ludwig Schmidt, and Shuran Song · 2022
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Open-vocabulary queryable scene representations for real world planning
Boyuan Chen, Fei Xia, Brian Ichter, Kanishka Rao, Keerthana Gopalakrishnan, Michael S. Ryoo, Austin Stone, and Daniel Kappler · 2022
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Openscene: 3d scene understanding with open vocabularies
Songyou Peng, Kyle Genova, Chiyu ”Max” Jiang, Andrea Tagliasacchi, Marc Pollefeys, and Thomas Funkhouser · 2022
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Language-driven open-vocabulary 3d scene understanding
Runyu Ding, Jihan Yang, Chuhui Xue, Wenqing Zhang, Song Bai, and Xiaojuan Qi · 2022
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Feature-realistic neural fusion for real-time, open set scene understanding
Kirill Mazur, Edgar Sucar, and Andrew Davison · 2022
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Semantic abstraction: Open-world 3D scene understanding from 2D vision-language models
Huy Ha and Shuran Song · 2022
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Image segmentation using text and image prompts
Timo Lüddecke and Alexander Ecker · 2022
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Masked-attention mask transformer for universal image segmentation
Bowen Cheng, Ishan Misra, Alexander G. Schwing, Alexander Kirillov, and Rohit Girdhar · 2022
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Language-grounded indoor 3d semantic segmentation in the wild
David Rozenberszki, Or Litany, and Angela Dai · 2022
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Cows on pasture: Baselines and benchmarks for language-driven zero-shot object navigation
Samir Yitzhak Gadre, Mitchell Wortsman, Gabriel Ilharco, Ludwig Schmidt, and Shuran Song · 2022
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Composing ensembles of pre-trained models via iterative consensus
Shuang Li, Yilun Du, Joshua B Tenenbaum, Antonio Torralba, and Igor Mordatch · 2022
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Does clip bind concepts? probing compositionality in large image models
Martha Lewis, Qinan Yu, Jack Merullo, and Ellie Pavlick · 2022
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https://github.com/mlfoundations/open_clip , 2022
Openclip · 2022
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Reclip: A strong zero-shot baseline for referring expression comprehension
Sanjay Subramanian, Will Merrill, Trevor Darrell, Matt Gardner, Sameer Singh, and Anna Rohrbach · 2022
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Visual language maps for robot navigation
Chenguang Huang, Oier Mees, Andy Zeng, and Wolfram Burgard · 2023
Closest in time.
3d concept learning and reasoning from multi-view images
Yining Hong, Chunru Lin, Yilun Du, Zhenfang Chen, Joshua B Tenenbaum, and Chuang Gan · 2023
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Alexander Kirillov, Eric Mintun, Nikhila Ravi, Hanzi Mao, Chloe Rolland, Laura Gustafson, Tete Xiao, Spencer Whitehead, Alexander C. Berg, Wan-Yen Lo, Piotr Dollár, and Ross Girshick · 2023
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