Related papers: Predictive and Semantic Layout Estimation for Robo…

Robots in the construction industry can reduce costs through constant monitoring of the work progress, using high precision data capturing. Accurate data capturing requires precise localization of the mobile robot within the environment. In…

Sampling based methods are widely used for robotic motion planning. Traditionally, these samples are drawn from probabilistic ( or deterministic ) distributions to cover the state space uniformly. Despite being probabilistically complete,…

With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…

For reliable autonomous robot navigation in urban settings, the robot must have the ability to identify semantically traversable terrains in the image based on the semantic understanding of the scene. This reasoning ability is based on…

We develop a new sampling method to estimate eigenvector centrality on incomplete networks. Our goal is to estimate this global centrality measure having at disposal a limited amount of data. This is the case in many real-world scenarios…

Autonomous robots for gathering information on objects of interest has numerous real-world applications because of they improve efficiency, performance and safety. Realizing autonomy demands online planning algorithms to solve sequential…

Human-centered environments are rich with a wide variety of spatial relations between everyday objects. For autonomous robots to operate effectively in such environments, they should be able to reason about these relations and generalize…

Automated planning enables robots to find plans to achieve complex, long-horizon tasks, given a planning domain. This planning domain consists of a list of actions, with their associated preconditions and effects, and is usually manually…

With the increasing presence of social robots in various environments and applications, there is an increasing need for these robots to exhibit socially-compliant behaviors. Legible motion, characterized by the ability of a robot to clearly…

Modern scene reconstruction methods are able to accurately recover 3D surfaces that are visible in one or more images. However, this leads to incomplete reconstructions, missing all occluded surfaces. While much progress has been made on…

We propose a new approach, named PolyMapper, to circumvent the conventional pixel-wise segmentation of (aerial) images and predict objects in a vector representation directly. PolyMapper directly extracts the topological map of a city from…

This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. We also employ a professional, static 3D scanner for ground truth…

Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…

Autonomous exploration of multi-floor buildings remains challenging for ground robots because conventional 2D and 2.5D maps cannot represent overlapping traversable surfaces such as stairs, ramps, and multiple reachable elevations. This…

This paper addresses a multi-robot planning problem in environments with partially unknown semantics. The environment is assumed to have known geometric structure (e.g., walls) and to be occupied by static labeled landmarks with uncertain…

We study the problem of estimating room layouts from a single panorama image. Most former works have two stages: feature extraction and parametric model fitting. Here we propose an end-to-end method that directly predicts parametric layouts…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

This paper presents a computational model of the processing of dynamic spatial relations occurring in an embodied robotic interaction setup. A complete system is introduced that allows autonomous robots to produce and interpret dynamic…

We address the problem of autonomous exploration and mapping for a mobile robot using visual inputs. Exploration and mapping is a well-known and key problem in robotics, the goal of which is to enable a robot to explore a new environment…

In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…