Related papers: Hypermap Mapping Framework and its Application to …
A hybrid map representation, which consists of a modified generalized Voronoi Diagram (GVD)-based topological map and a grid-based metric map, is proposed to facilitate a new frontier-driven exploration strategy. Exploration frontiers are…
The comprehensive representation and understanding of the driving environment is crucial to improve the safety and reliability of autonomous vehicles. In this paper, we present a new approach to establish an environment model containing a…
While humans can successfully navigate using abstractions, ignoring details that are irrelevant to the task at hand, most existing robotic applications require the maintenance of a detailed environment representation which consumes a…
Creating 3D semantic reconstructions of environments is fundamental to many applications, especially when related to autonomous agent operation (e.g., goal-oriented navigation or object interaction and manipulation). Commonly, 3D semantic…
Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…
For robots to navigate and interact more richly with the world around them, they will likely require a deeper understanding of the world in which they operate. In robotics and related research fields, the study of understanding is often…
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions; uneven and slippery terrains make wheel odometry…
We propose an autonomous exploration algorithm designed for decentralized multi-robot teams, which takes into account map and localization uncertainties of range-sensing mobile robots. Virtual landmarks are used to quantify the combined…
We present a new method of learning a continuous occupancy field for use in robot navigation. Occupancy grid maps, or variants of, are possibly the most widely used and accepted method of building a map of a robot's environment. Various…
This paper implements Simultaneous Localization and Mapping (SLAM) technique to construct a map of a given environment. A Real Time Appearance Based Mapping (RTAB-Map) approach was taken for accomplishing this task. Initially, a 2d…
Exploration of an unknown environment by a mobile robot is a complex task involving solution of many fundamental problems from data processing, localization to high-level planning and decision making. The exploration framework we developed…
Probabilistic 3D map has been applied to object segmentation with multiple camera viewpoints, however, conventional methods lack of real-time efficiency and functionality of multilabel object mapping. In this paper, we propose a method to…
Autonomous exploration is a complex task where the robot moves through an unknown environment with the goal of mapping it. The desired output of such a process is a sequence of paths that efficiently and safely minimise the uncertainty of…
High definition (HD) maps have demonstrated their essential roles in enabling full autonomy, especially in complex urban scenarios. As a crucial layer of the HD map, lane-level maps are particularly useful: they contain geometrical and…
Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework…
Autonomously driving vehicles require a complete and robust perception of the local environment. A main challenge is to perceive any other road users, where multi-object tracking or occupancy grid maps are commonly used. The presented…
Sub-symbolic artificial intelligence methods dominate the fields of environment-type classification and Simultaneous Localisation and Mapping. However, a significant area overlooked within these fields is solution transparency for the…
Autonomous exploration requires a robot to explore an unknown environment while constructing an accurate map using Simultaneous Localization and Mapping (SLAM) techniques. Without prior information, the exploration performance is usually…
The increasing demand for efficient last-mile delivery in smart logistics underscores the role of autonomous robots in enhancing operational efficiency and reducing costs. Traditional navigation methods, which depend on high-precision maps,…
Traditional robot navigation systems primarily utilize occupancy grid maps and laser-based sensing technologies, as demonstrated by the popular move_base package in ROS. Unlike robots, humans navigate not only through spatial awareness and…