Related papers: Room Detection for Topological Maps
Given a sequence of possibly sparse and noisy GPS traces and a map of the road network, map matching algorithms can infer the most accurate trajectory on the road network. However, if the road network is wrong (for example due to missing or…
Many community detection algorithms require the introduction of a measure on the set of nodes. Previously, a lot of efforts have been made to find the top-performing measures. In most cases, experiments were conducted on several datasets or…
This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. Nine high-resolution cameras and two 32-beam 3D Lidars were used…
Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…
Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…
Mapping is essential in robotics and autonomous systems because it provides the spatial foundation for path planning. Efficient mapping enables planning algorithms to generate reliable paths while ensuring safety and adapting in real time…
This paper describes a system whereby a robot detects and track human-meaningful navigational cues as it navigates in an indoor environment. It is intended as the sensor front-end for a mobile robot system that can communicate its…
Today, mobile robots are expected to carry out increasingly complex tasks in multifarious, real-world environments. Often, the tasks require a certain semantic understanding of the workspace. Consider, for example, spoken instructions from…
We present our approach to improve room classification task on floor plan maps of buildings by representing floor plans as undirected graphs and leveraging graph neural networks to predict the room categories. Rooms in the floor plans are…
In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…
The map-matching is an essential preprocessing step for most of the trajectory-based applications. Although it has been an active topic for more than two decades and, driven by the emerging applications, is still under development. There is…
The quest for efficient sorting is ongoing, and we will explore a graph-based stable sorting strategy, in particular employing comparison graphs. We use the topological sort to map the comparison graph to a linear domain, and we can…
Geometric alignment appears in a variety of applications, ranging from domain adaptation, optimal transport, and normalizing flows in machine learning; optical flow and learned augmentation in computer vision and deformable registration…
We showcase a topological mapping framework for a challenging indoor warehouse setting. At the most abstract level, the warehouse is represented as a Topological Graph where the nodes of the graph represent a particular warehouse…
In this paper, we develop a method to detect vacant parking spaces in an environment with unclear segments and contours with the help of MATLAB image processing capabilities. Due to the anomalies present in the parking spaces, such as…
Lifelong indoor localization in a given map is the basis for navigation of autonomous mobile robots. In this letter, we address the problem of robust localization in cluttered indoor environments like office spaces and corridors using 3D…
This paper presents a neural network based semantic plane detection method utilizing polygon representations. The method can for example be used to solve room layout estimations tasks. The method is built on, combines and further develops…
Modern methods of graph theory describe a graph up to isomorphism, which makes it difficult to create mathematical models for visualizing graph drawings on a plane. The topological drawing of the planar part of a graph allows representing…
Effective building pattern recognition is critical for understanding urban form, automating map generalization, and visualizing 3D city models. Most existing studies use object-independent methods based on visual perception rules and…
Dynamic Occupancy Grid Mapping is a technique used to generate a local map of the environment containing both static and dynamic information. Typically, these maps are primarily generated using lidar measurements. However, with improvements…