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Our brain has an inner global positioning system which enables us to sense and navigate 3D spaces in real time. Can mobile robots replicate such a biological feat in a dynamic environment? We introduce the first spatial reasoning framework…
Recent advancements in neutron and X-ray sources, instrumentation and data collection modes have significantly increased the experimental data size (which could easily contain 10$^{8}$ -- 10$^{10}$ data points), so that conventional…
This paper develops a probabilistic anticipation algorithm for dynamic objects observed by an autonomous robot in an urban environment. Predictive Gaussian mixture models are used due to their ability to probabilistically capture continuous…
Volume-based indoor scene reconstruction methods offer superior generalization capability and real-time deployment potential. However, existing methods rely on multi-view pixel back-projection ray intersections as weak geometric constraints…
Onboard terrain sensing and mapping for safe planetary landings often suffer from missed hazardous features, e.g., small rocks, due to the large observational range and the limited resolution of the obtained terrain data. To this end, this…
Room geometry inference (RGI) aims at estimating room shapes from measured room impulse responses (RIRs) and has received lots of attention for its importance in environment-aware audio rendering and virtual acoustic representation of a…
Legged robots have the potential to expand the reach of autonomy beyond paved roads. In this work, we consider the difficult problem of locomotion on challenging terrains using a single forward-facing depth camera. Due to the partial…
Multi-robot systems are essential for environmental monitoring, particularly for tracking spatial phenomena like pollution, soil minerals, and water salinity, and more. This study addresses the challenge of deploying a multi-robot team for…
This paper proposes a method for estimating a surface that contains a given set of points from noisy measurements. More precisely, by assuming that the surface is described by the zero set of a function in the span of a given set of…
Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…
The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…
X-Ray imaging is quick, cheap and useful for front-line care assessment and intra-operative real-time imaging (e.g., C-Arm Fluoroscopy). However, it suffers from projective information loss and lacks vital volumetric information on which…
We investigate the estimation of specific intrinsic volumes of stationary Boolean models by local digital algorithms; that is, by weighted sums of $n \times\ldots \times n$ configuration counts. We show that asymptotically unbiased…
Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…
In a wide range of robotic applications, being able to create a 3D model of the surrounding environment is a key feature for autonomous tasks. In this research report, we present a statistical model to perform 3D reconstructions of the…
Recent developments in 3D Gaussian Splatting have made significant advances in surface reconstruction. However, scaling these methods to large-scale scenes remains challenging due to high computational demands and the complex dynamic…
Reconstructing geometry and topology structures from raw unstructured data has always been an important research topic in indoor mapping research. In this paper, we aim to reconstruct the floorplan with a vectorized representation from…
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…
We consider the problem of positioning a cloud of points in the Euclidean space $\mathbb{R}^d$, using noisy measurements of a subset of pairwise distances. This task has applications in various areas, such as sensor network localization and…