Related papers: Graph-Based Topological Exploration Planning in La…
Mobile robots require comprehensive scene understanding to operate effectively in diverse environments, enriched with contextual information such as layouts, objects, and their relationships. Although advances like neural radiation fields…
Autonomous exploration is a complex task where the robot moves through an unknown environment with the goal of mapping it. The desired output of such a process is a sequence of paths that efficiently and safely minimise the uncertainty of…
Holoscopic 3D imaging is a promising technique for capturing full colour spatial 3D images using a single aperture holoscopic 3D camera. It mimics fly's eye technique with a microlens array, which views the scene at a slightly different…
Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
Exploration is a fundamental problem in robot autonomy. A major limitation, however, is that during exploration robots oftentimes have to rely on on-board systems alone for state estimation, accumulating significant drift over time in large…
This paper proposes a novel method of coverage path planning for the purpose of scanning an unstructured environment autonomously. The method uses the morphological skeleton of the prior 2D navigation map via SLAM to generate a sequence of…
We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…
Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless planner which directly conducts such abstraction on the unfused…
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…
Density map is an effective visualization technique for depicting the scalar field distribution in 2D space. Conventional methods for constructing density maps are mainly based on Euclidean distance, limiting their applicability in urban…
Representing a scanned map of the real environment as a topological structure is an important research topic in robotics. Since topological representations of maps save a huge amount of map storage space and online computing time, they are…
Texture mapping is a common technology in the area of computer graphics, it maps the 3D surface space onto the 2D texture space. However, the loose texture space will reduce the efficiency of data storage and GPU memory addressing in the…
Spatial graphs are particular graphs for which the nodes are localized in space (e.g., public transport network, molecules, branching biological structures). In this work, we consider the problem of spatial graph reduction, that aims to…
In robot navigation, generalizing quickly to unseen environments is essential. Hierarchical methods inspired by human navigation have been proposed, typically consisting of a high-level landmark proposer and a low-level controller. However,…
Surface topography refers to the geometric micro-structure of a surface and defines its tactile characteristics (typically in the sub-millimeter range). High-resolution 3D scanning techniques developed recently enable the 3D reconstruction…
We propose the Selective Densification method for fast motion planning through configuration space. We create a sequence of roadmaps by iteratively adding configurations. We organize these roadmaps into layers and add edges between…
Many scenarios require a robot to be able to explore its 3D environment online without human supervision. This is especially relevant for inspection tasks and search and rescue missions. To solve this high-dimensional path planning problem,…
Node-link diagrams are widely used to visualize graphs. Most graph layout algorithms only use graph topology for aesthetic goals (e.g., minimize node occlusions and edge crossings) or use node attributes for exploration goals (e.g.,…
Future urban transportation concepts include a mixture of ground and air vehicles with varying degrees of autonomy in a congested environment. In such dynamic environments, occupancy maps alone are not sufficient for safe path planning.…