Related papers: Semantic Interior Mapology: A Toolbox For Indoor S…

Simultaneous mapping and localization (SLAM) in an real indoor environment is still a challenging task. Traditional SLAM approaches rely heavily on low-level geometric constraints like corners or lines, which may lead to tracking failure in…

We study the task of semantic mapping - specifically, an embodied agent (a robot or an egocentric AI assistant) is given a tour of a new environment and asked to build an allocentric top-down semantic map ("what is where?") from egocentric…

This work aims to improve texture inpainting after clutter removal in scanned indoor meshes. This is achieved with a new UV mapping pre-processing step which leverages semantic information of indoor scenes to more accurately match the UV…

Micro-Aerial Vehicles (MAVs) have the advantage of moving freely in 3D space. However, creating compact and sparse map representations that can be efficiently used for planning for such robots is still an open problem. In this paper, we…

For many fundamental scene understanding tasks, it is difficult or impossible to obtain per-pixel ground truth labels from real images. We address this challenge by introducing Hypersim, a photorealistic synthetic dataset for holistic…

We present a novel approach for 3D indoor scene reconstruction that combines 3D Gaussian Splatting (3DGS) with mesh representations. We use meshes for the room layout of the indoor scene, such as walls, ceilings, and floors, while employing…

Vision language models (VLMs) can simultaneously reason about images and texts to tackle many tasks, from visual question answering to image captioning. This paper focuses on map parsing, a novel task that is unexplored within the VLM…

Self-Organizing Map (SOM) is a neural network model which is used to obtain a topology-preserving mapping from the (usually high dimensional) input/feature space to an output/map space of fewer dimensions (usually two or three in order to…

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…

Simultaneous Localization and Mapping (SLAM) technology enables the construction of environmental maps and localization, serving as a key technique for indoor autonomous navigation of mobile robots. Traditional SLAM methods typically…

In this paper, we introduce Semantic Layering in Room Segmentation via LLMs (SeLRoS), an advanced method for semantic room segmentation by integrating Large Language Models (LLMs) with traditional 2D map-based segmentation. Unlike previous…

Conventional pedestrian simulators are inevitable tools in the design process of a building, as they enable project engineers to prevent overcrowding situations and plan escape routes for evacuation. However, simulation runtime and the…

Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…

We present SemLayoutDiff, a unified model for synthesizing diverse 3D indoor scenes across multiple room types. The model introduces a scene layout representation combining a top-down semantic map and attributes for each object. Unlike…

We present a system for creating building-scale, easily navigable 3D maps using mainstream smartphones. In our approach, we formulate the 3D-mapping problem as an instance of Graph SLAM and infer the position of both building landmarks…

Semantic reconstruction of indoor scenes refers to both scene understanding and object reconstruction. Existing works either address one part of this problem or focus on independent objects. In this paper, we bridge the gap between…

The availability of large language models and open-vocabulary object perception methods enables more flexibility for domestic service robots. The large variability of domestic tasks can be addressed without implementing each task…

Robots navigating indoor environments often have access to architectural plans, which can serve as prior knowledge to enhance their localization and mapping capabilities. While some SLAM algorithms leverage these plans for global…

This study introduces a human-in-the-loop pipeline that converts unscaled, hand-drawn floor plan sketches into semantically consistent 3D BIM models. The workflow leverages multimodal large language models (MLLMs) within a multi-agent…

The first step in most empirical work in multilingual NLP is to construct maps of the correspondence between texts and their translations ({\bf bitext maps}). The Smooth Injective Map Recognizer (SIMR) algorithm presented here is a generic…