Exosense: A Vision-Centric Scene Understanding System For Safe Exoskeleton Navigation

no code implementations • 21 Mar 2024 • Jianeng Wang, Matias Mattamala, Christina Kassab, Lintong Zhang, Maurice Fallon

We demonstrate the system's robustness to the challenges of typical periodic walking gaits, and its ability to construct accurate semantically-rich maps in indoor settings.

Language Modelling Motion Planning +1

Language-EXtended Indoor SLAM (LEXIS): A Versatile System for Real-time Visual Scene Understanding

no code implementations • 26 Sep 2023 • Christina Kassab, Matias Mattamala, Lintong Zhang, Maurice Fallon

We use this representation for flexible room classification and segmentation, serving as a basis for room-centric place recognition.

Scene Understanding Simultaneous Localization and Mapping

Multi-Camera LiDAR Inertial Extension to the Newer College Dataset

no code implementations • 16 Dec 2021 • Lintong Zhang, Marco Camurri, David Wisth, Maurice Fallon

We present a multi-camera LiDAR inertial dataset of 4. 5 km walking distance as an expansion of the Newer College Dataset.

Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry

no code implementations • 13 Sep 2021 • Lintong Zhang, David Wisth, Marco Camurri, Maurice Fallon

We present a multi-camera visual-inertial odometry system based on factor graph optimization which estimates motion by using all cameras simultaneously while retaining a fixed overall feature budget.

feature selection