Demo Abstract: VGGlass - Demonstrating Visual Grounding and Localization Synergy with a LiDAR-enabled Smart-Glass
PROCEEDINGS OF THE 21ST ACM CONFERENCE ON EMBEDDED NETWORKED SENSOR SYSTEMS, SENSYS 2023(2023)
Singapore Management Univ
Abstract
This work demonstrates the VGGlass system, which simultaneously interprets human instructions for a target acquisition task and determines the precise 3D positions of both user and the target object. This is achieved by utilizing LiDARs mounted in the infrastructure and a smart glass device worn by the user. Key to our system is the union of LiDAR-based localization termed LiLOC and a multi-modal visual grounding approach termed RealG(2)In-Lite. To demonstrate the system, we use Intel RealSense L515 cameras and a Microsoft HoloLens 2, as the user devices. VGGlass is able to: a) track the user in real-time in a global coordinate system, and b) locate target objects referred by natural language and pointing gestures.
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Key words
Multi-modal interaction,3D Localization,Visual Grounding
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