Related papers: Room Detection for Topological Maps

For intelligent robots to interact in meaningful ways with their environment, they must understand both the geometric and semantic properties of the scene surrounding them. The majority of research to date has addressed these mapping…

Graph embeddings have emerged as a powerful tool for representing complex network structures in a low-dimensional space, enabling the use of efficient methods that employ the metric structure in the embedding space as a proxy for the…

Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…

We construct algorithms and topological invariants that allow us to distinguish the topological type of a surface, as well as functions and vector fields for their topological equivalence. In the first part we discus the main structures…

Mobile robots depend on maps for localization, planning, and other applications. In indoor scenarios, there is often lots of clutter present, such as chairs, tables, other furniture, or plants. While mapping this clutter is important for…

Object-based maps are relevant for scene understanding since they integrate geometric and semantic information of the environment, allowing autonomous robots to robustly localize and interact with on objects. In this paper, we address the…

Place recognition is a key module in robotic navigation. The existing line of studies mostly focuses on visual place recognition to recognize previously visited places solely based on their appearance. In this paper, we address structural…

Graph pattern matching is often defined in terms of subgraph isomorphism, an NP-complete problem. To lower its complexity, various extensions of graph simulation have been considered instead. These extensions allow pattern matching to be…

The exploration of large-scale unknown environments can benefit from the deployment of multiple robots for collaborative mapping. Each robot explores a section of the environment and communicates onboard pose estimates and maps to a central…

The ubiquitous presence of WiFi access points and mobile devices capable of measuring WiFi signal strengths allow for real-world applications in indoor localization and mapping. In particular, no additional infrastructure is required.…

We construct algorithms and topological invariants that allow us to distinguish the topological type of a surface, as well as functions and vector fields for their topological equivalence. In the first part (arXiv:2501.15657), we discused…

Topological data analysis (TDA) is a rising branch in modern applied mathematics. It extracts topological structures as features of a given space and uses these features to analyze digital data. Persistent homology, one of the central tools…

A map merging component is crucial for the proper functionality of a multi-robot system performing exploration, since it provides the means to integrate and distribute the most important information carried by the agents: the…

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…

Room allocation is a challenging task in detention centers since lots of related people need to be held separately with limited rooms. It is extremely difficult and risky to allocate rooms manually, especially for organized crime groups…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

We study the topological complexity of work maps with respect to some subspaces of the configuration space and a workspace considered as the target set of the motion of robots. The motivation is to optimize and reduce the number of motion…

Besides per-pixel accuracy, topological correctness is also crucial for the segmentation of images with fine-scale structures, e.g., satellite images and biomedical images. In this paper, by leveraging the theory of digital topology, we…

In robotic applications, a key requirement for safe and efficient motion planning is the ability to map obstacle-free space in unknown, cluttered 3D environments. However, commodity-grade RGB-D cameras commonly used for sensing fail to…

Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…