Related papers: Sketched Floor plans versus SLAM maps: A Compariso…
Robots need task planning algorithms to sequence actions toward accomplishing goals that are impossible through individual actions. Off-the-shelf task planners can be used by intelligent robotics practitioners to solve a variety of planning…
Real-time generation of natural-looking floor plans is vital in games with dynamic environments. This paper presents an algorithm to generate suburban house floor plans in real-time. The algorithm is based on the work presented in [1].…
How does a person work out their location using a floorplan? It is probably safe to say that we do not explicitly measure depths to every visible surface and try to match them against different pose estimates in the floorplan. And yet, this…
Floor plans depict building layouts and are often represented as graphs to capture the underlying spatial relationships. Comparison of these graphs is critical for applications like search, clustering, and data visualization. The most…
There are many possibilities for how to represent the map in simultaneous localisation and mapping (SLAM). While sparse, keypoint-based SLAM systems have achieved impressive levels of accuracy and robustness, their maps may not be suitable…
Visual understanding of 3D environments in real-time, at low power, is a huge computational challenge. Often referred to as SLAM (Simultaneous Localisation and Mapping), it is central to applications spanning domestic and industrial…
With the increase in the availability of Building Information Models (BIM) and (semi-) automatic tools to generate BIM from point clouds, we propose a world model architecture and algorithms to allow the use of the semantic and geometric…
Floor planning is an important and difficult task in architecture. When planning office buildings, rooms that belong to the same organisational unit should be placed close to each other. This leads to the following NP-hard mathematical…
Simultaneous localization and mapping, especially the one relying solely on video data (vSLAM), is a challenging problem that has been extensively studied in robotics and computer vision. State-of-the-art vSLAM algorithms are capable of…
Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of the art…
Joint optimization of poses and features has been extensively studied and demonstrated to yield more accurate results in feature-based SLAM problems. However, research on jointly optimizing poses and non-feature-based maps remains limited.…
In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency…
The most common way for robots to handle environmental information is by using maps. At present, each kind of data is hosted on a separate map, which complicates planning because a robot attempting to perform a task needs to access and…
We aim for mobile robots to function in a variety of common human environments. Such robots need to be able to reason about the locations of previously unseen target objects. Landmark objects can help this reasoning by narrowing down the…
This paper uses the smoothing and mapping framework to solve the SLAM problem in indoor environments; focusing on how some key issues such as feature extraction and data association can be handled by applying probabilistic techniques. For…
Topological strategies for navigation meaningfully reduce the space of possible actions available to a robot, allowing use of heuristic priors or learning to enable computationally efficient, intelligent planning. The challenges in…
In this article we describe a program -- called planar_draw -- to draw maps on oriented surfaces in the plane. The drawings are coded as tikz files that can easily be manipulated and used in latex documents. Next to plane maps -- a case for…
Mapping is an important part of many robotic applications. In order to measure the performance of the mapping process we have to measure the quality of its result: the map. The map is essential for robotic algorithms like localization and…
Generally capable Spatial AI systems must build persistent scene representations where geometric models are combined with meaningful semantic labels. The many approaches to labelling scenes can be divided into two clear groups: view-based…
We present the concept of speed maps: speed limits for mobile robots in human environments. Static speed maps allow for faster navigation on corridors while limiting the speed around corners and in rooms. Dynamic speed maps put limits on…