# Robot-Relay : Building-Wide, Calibration-Less Visual Servoing with Learned Sensor Handover Network

arXiv: https://arxiv.org/abs/2310.15677 · HTML: https://mlsanity.com/paper/2310.15677/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 24 Oct 2023.

## Built on by (most cited first, 4 of 4)

- [Select2Plan: Training-Free ICL-Based Planning through VQA and Memory Retrieval](https://mlsanity.com/paper/2411.04006/) (2024)
- [Fixed External Cameras as Common Prior Maps for Active 3D Scene Graph Generation](https://mlsanity.com/paper/2605.18184/) (2026)
- [RGB-only Active 3D Scene Graph Generation for Indoor Mobile Robots](https://mlsanity.com/paper/2605.18197/) (2026)
- [InfraVLA: Extending Vision-Language-Action Navigation with Infrastructure Cameras](https://mlsanity.com/paper/2609.33647/) (2026)

## Abstract (arXiv)

We present a system which grows and manages a network of remote viewpoints during the natural installation cycle for a newly installed camera network or a newly deployed robot fleet. No explicit notion of camera position or orientation is required, neither global - i.e. relative to a building plan - nor local - i.e. relative to an interesting point in a room. Furthermore, no metric relationship between viewpoints is required. Instead, we leverage our prior work in effective remote control without extrinsic or intrinsic calibration and extend it to the multi-camera setting. In this, we memorise, from simultaneous robot detections in the tracker thread, soft pixel-wise topological connections between viewpoints. We demonstrate our system with repeated autonomous traversals of workspaces connected by a network of six cameras across a productive office environment.