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3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoustic sensors are plagued by high noise and a lack of 3D…

This paper presents a novel on-line path planning method that enables aerial robots to interact with surfaces. We present a solution to the problem of finding trajectories that drive a robot towards a surface and move along it. Triangular…

The imagination of the surrounding environment based on experience and semantic cognition has great potential to extend the limited observations and provide more information for mapping, collision avoidance, and path planning. This paper…

A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the increasing industrial interest in mobile robotics, especially in…

Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…

Simultaneous Localization and Mapping (SLAM) is one of the most essential techniques in many real-world robotic applications. The assumption of static environments is common in most SLAM algorithms, which however, is not the case for most…

In many applications of autonomous mobile robots the following problem is encountered. Two maps of the same environment are available, one a prior map and the other a sensor map built by the robot. To benefit from all available information…

We present a stereo-based dense mapping algorithm for large-scale dynamic urban environments. In contrast to other existing methods, we simultaneously reconstruct the static background, the moving objects, and the potentially moving but…

This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…

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…

This letter describes an incremental multimodal surface mapping methodology, which represents the environment as a continuous probabilistic model. This model enables high-resolution reconstruction while simultaneously compressing spatial…

This paper proposes a 2-D autonomous exploration and mapping framework for LiDAR-based SLAM mobile robots, designed to address the major challenges on low-cost platforms, including process instability, map drift, and increased risks of…

Simultaneous Localization and Mapping (SLAM) is a critical task in robotics, enabling systems to autonomously navigate and understand complex environments. Current SLAM approaches predominantly rely on geometric cues for mapping and…

Occupancy mapping has been widely utilized to represent the surroundings for autonomous robots to perform tasks such as navigation and manipulation. While occupancy mapping in 2-D environments has been well-studied, there have been few…

Creating and maintaining an accurate representation of the environment is an essential capability for every service robot. Especially for household robots acting in indoor environments, semantic information is important. In this paper, we…

Constructing a spatial map of environmental parameters is a crucial step to preventing hazardous chemical leakages, forest fires, or while estimating a spatially distributed physical quantities such as terrain elevation. Although prior…

Effective robotic autonomy in unknown environments demands proactive exploration and precise understanding of both geometry and semantics. In this paper, we propose ActiveSGM, an active semantic mapping framework designed to predict the…

Robots often have to deal with the challenges of operating in dynamic and sometimes unpredictable environments. Although an occupancy map of the environment is sufficient for navigation of a mobile robot or manipulation tasks with a robotic…

Achieving 3D spatial awareness is crucial for surgical robotic manipulation, where precise and delicate operations are required. Existing methods either explicitly reconstruct the surgical scene prior to manipulation, or enhance multi-view…

Determining the drivable area, or free space segmentation, is critical for mobile robots to navigate indoor environments safely. However, the lack of coherent markings and structures (e.g., lanes, curbs, etc.) in indoor spaces places the…