Related papers: Room Detection for Topological Maps
Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…
Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…
Modern intelligent and autonomous robotic applications often require robots to have more information about their environment than that provided by traditional occupancy grid maps. For example, a robot tasked to perform autonomous semantic…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
For security, environmental, and regulatory purposes it is useful to continuously monitor wide areas for unexpected changes in radioactivity. We report on a temporal anomaly detection algorithm which uses mobile detectors to build a spatial…
We tackle the problem of object detection and pose estimation in a shared space downtown environment. For perception multiple laser scanners with 360{\deg} coverage were fused in a dynamic occupancy grid map (DOGMa). A single-stage deep…
In this paper we present an overview of the methods and systems that give rise to a flying robotic system capable of autonomous inspection, surveying, comprehensive multi-modal mapping and inventory tracking of construction sites with high…
We study algorithms for detecting and including glass objects in an optimization-based Simultaneous Localization and Mapping (SLAM) algorithm in this work. When LiDAR data is the primary exteroceptive sensory input, glass objects are not…
We present a method for computing the topological entropy of one-dimensional maps. As an approximation scheme, the algorithm converges rapidly and provides both upper and lower bounds.
Symmetry is a key feature observed in nature (from flowers and leaves, to butterflies and birds) and in human-made objects (from paintings and sculptures, to manufactured objects and architectural design). Rotational, translational, and…
Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the…
The topological organization of several world cities are studied according to respective representations by complex networks. As a first step, the city maps are processed by a recently developed methodology that allows the most significant…
In this paper we present an implementation of a computer algorithm that automatically determines the topological structure of spacetime, using a branched covering space representation. This algorithm is applied to a few simple examples in…
Mobile robots extract information from its environment to understand their current situation to enable intelligent decision making and autonomous task execution. In our previous work, we introduced the concept of Situation Graphs (S-Graphs)…
Image matting is a fundamental computer vision problem and has many applications. Previous algorithms have poor performance when an image has similar foreground and background colors or complicated textures. The main reasons are prior…
Most autonomous cars rely on the availability of high-definition (HD) maps. Current research aims to address this constraint by directly predicting HD map elements from onboard sensors and reasoning about the relationships between the…
Most mobile robots for indoor use rely on 2D laser scanners for localization, mapping and navigation. These sensors, however, cannot detect transparent surfaces or measure the full occupancy of complex objects such as tables. Deep Neural…
Topological strategies for navigation meaningfully reduce the space of possible actions available to a robot, allowing use of heuristic priors or learning to enable computationally efficient, intelligent planning. The challenges in…
Door-status detection, namely recognizing the presence of a door and its status (open or closed), can induce a remarkable impact on a mobile robot's navigation performance, especially for dynamic settings where doors can enable or disable…
Schematic maps are in daily use to show the connectivity of subway systems and to facilitate travellers to plan their journeys effectively. This study surveys up-to-date algorithmic approaches in order to give an overview of the state of…