Lifelong LERF: Local 3D Semantic Inventory Monitoring Using FogROS2
Adam Rashid,Chung Min Kim,Justin Kerr,Letian Fu,Kush Hari,Ayah Ahmad,Kaiyuan Chen,Huang Huang,Marcus Gualtieri,Michael Wang,Christian Juette,Nan Tian,Liu Ren,Ken Goldberg,Adam Rashid,Chung Min Kim,Justin Kerr,Letian Fu,Kush Hari,Ayah Ahmad,Kaiyuan Chen,Huang Huang,Marcus Gualtieri,Michael Wang,Christian Juette,Nan Tian,Liu Ren,Ken Goldberg
Inventory monitoring in homes, factories, and retail stores relies on maintaining data despite objects being swapped, added, removed, or moved. We introduce Lifelong LERF, a method that allows a mobile robot with minimal compute to jointly optimize a dense language and geometric representation of its surroundings. Lifelong LERF maintains this representation over time by detecting semantic changes ...
