Related papers: Viewpoint Push Planning for Mapping of Unknown Con…

Visual place recognition tasks often encounter significant challenges in landmark detection due to the presence of irrelevant objects such as humans, cars, and trees, despite the remarkable progress achieved by previous models, especially…

Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Pushing objects through cluttered scenes is a challenging task, especially when the objects to be pushed have initially unknown dynamics and touching other entities has to be avoided to reduce the risk of damage. In this paper, we approach…

Autonomous robotic tasks require actively perceiving the environment to achieve application-specific goals. In this paper, we address the problem of positioning an RGB camera to collect the most informative images to represent an unknown…

Visual Place Recognition is a task that aims to predict the place of an image (called query) based solely on its visual features. This is typically done through image retrieval, where the query is matched to the most similar images from a…

Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The…

In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their…

A detailed environment representation is a crucial component of automated vehicles. Using single range sensor scans, data is often too sparse and subject to occlusions. Therefore, we present a method to augment occupancy grid maps from…

Coverage path planning is a well-studied problem in robotics in which a robot must plan a path that passes through every point in a given area repeatedly, usually with a uniform frequency. To address the scenario in which some points need…

We train embodied neural networks to plan and navigate unseen complex 3D environments, emphasising real-world deployment. Rather than requiring prior knowledge of the agent or environment, the planner learns to model the state transitions…

As one of the simplest non-prehensile manipulation skills, pushing has been widely studied as an effective means to rearrange objects. Existing approaches, however, typically rely on multi-step push plans composed of pre-defined pushing…

Inspecting indoor environments such as tunnels, industrial facilities, and construction sites is essential for infrastructure monitoring and maintenance. While manual inspection in these environments is often time-consuming and potentially…

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…

Visual navigation is a fundamental capability for autonomous home-assistance robots, enabling long-horizon tasks such as object search. While recent methods have leveraged Large Language Models (LLMs) to incorporate commonsense reasoning…

Unmanned aerial vehicles (UAVs) are frequently used for aerial mapping and general monitoring tasks. Recent progress in deep learning enabled automated semantic segmentation of imagery to facilitate the interpretation of large-scale complex…

Visual exploration and smart data collection via autonomous vehicles is an attractive topic in various disciplines. Disturbances like wind significantly influence both the power consumption of the flying robots and the performance of the…

As space becomes more congested, on orbit inspection is an increasingly relevant activity whether to observe a defunct satellite for planning repairs or to de-orbit it. However, the task of on orbit inspection itself is challenging,…

Autonomous robots are widely utilized for mapping and exploration tasks due to their cost-effectiveness. Multi-robot systems offer scalability and efficiency, especially in terms of the number of robots deployed in more complex…

Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the context of extrinsic manipulation on a supporting plane,…