Author

J. González-Jiménez

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Open access Sep 2026

Open-Vocabulary Instance Segmentation for Scene Understanding in Mobile Robots

An open-vocabulary semantic mapping pipeline is presented that integrates TALOS (TAgging–LOcation–Segmentation–Segmentation) with the probabilistic, instance-aware Voxeland framework and shows a better balance between map completeness, geometric clarity, semantic coherence, and instance separation.

Macoris Decena-Gimenez, Pepe Ojeda, J. Ruiz-Sarmiento et al. · Robotics · 0 citations

Preprint Aug 2026

Topometric Autonomous Vehicle Localization by Combining Visual Embeddings and Feed-Forward 3D Models

This paper addresses sequential appearance-based localization through a topometric framework that iteratively combines probabilistic VPR with FF3D metric pose estimation in controlled image sets, and shows that sequential belief can mitigate severe failures under perceptual aliasing.

Eulogio Quemada-Torres, Alberto Jaenal, Francisco-Angel Moreno et al. · 0 citations