Ting-Ru Liu

Hsuan-Kung Yang, Tsung-Chih Chiang, Jou-Min Liu et al.

In the context of autonomous navigation, effectively conveying abstract navigational cues to agents in dynamic environments presents significant challenges, particularly when navigation information is derived from diverse modalities such as both vision and high-level language descriptions. To address this issue, we introduce a novel technique termed `Virtual Guidance,' which is designed to visually represent non-visual instructional signals. These visual cues are overlaid onto the agent's camera view and served as comprehensible navigational guidance signals. To validate the concept of virtual guidance, we propose a sim-to-real framework that enables the transfer of the trained policy from simulated environments to real world, ensuring the adaptability of virtual guidance in practical scenarios. We evaluate and compare the proposed method against a non-visual guidance baseline through detailed experiments in simulation. The experimental results demonstrate that the proposed virtual guidance approach outperforms the baseline methods across multiple scenarios and offers clear evidence of its effectiveness in autonomous navigation tasks.

Ting-Ru Liu, Hsuan-Kung Yang, Jou-Min Liu et al.

Scene coordinate regression (SCR) methods have emerged as a promising area of research due to their potential for accurate visual localization. However, many existing SCR approaches train on samples from all image regions, including dynamic objects and texture-less areas. Utilizing these areas for optimization during training can potentially hamper the overall performance and efficiency of the model. In this study, we first perform an in-depth analysis to validate the adverse impacts of these areas. Drawing inspiration from our analysis, we then introduce an error-guided feature selection (EGFS) mechanism, in tandem with the use of the Segment Anything Model (SAM). This mechanism seeds low reprojection areas as prompts and expands them into error-guided masks, and then utilizes these masks to sample points and filter out problematic areas in an iterative manner. The experiments demonstrate that our method outperforms existing SCR approaches that do not rely on 3D information on the Cambridge Landmarks and Indoor6 datasets.

Hsuan-Kung Yang, Tsung-Chih Chiang, Ting-Ru Liu et al.

The challenge of navigation in environments with dynamic objects continues to be a central issue in the study of autonomous agents. While predictive methods hold promise, their reliance on precise state information makes them less practical for real-world implementation. This study presents visual forecasting as an innovative alternative. By introducing intuitive visual cues, this approach projects the future trajectories of dynamic objects to improve agent perception and enable anticipatory actions. Our research explores two distinct strategies for conveying predictive information through visual forecasting: (1) sequences of bounding boxes, and (2) augmented paths. To validate the proposed visual forecasting strategies, we initiate evaluations in simulated environments using the Unity engine and then extend these evaluations to real-world scenarios to assess both practicality and effectiveness. The results confirm the viability of visual forecasting as a promising solution for navigation and obstacle avoidance in dynamic environments.