Related papers: Efficient volumetric mapping of multi-scale enviro…
We introduce WaveSim, a multi-scale similarity metric for the evaluation of spatial fields in weather and climate applications. WaveSim exploits wavelet transforms to decompose input fields into scale-specific wavelet coefficients. The…
Many high-dimensional optimisation problems exhibit rich geometric structures in their set of minimisers, often forming smooth manifolds due to over-parametrisation or symmetries. When this structure is known, at least locally, it can be…
Despite the progress in legged robotic locomotion, autonomous navigation in unknown environments remains an open problem. Ideally, the navigation system utilizes the full potential of the robots' locomotion capabilities while operating…
Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless navigate that area successfully. In the context of…
We propose a novel optimization framework for computing the medial axis transform that simultaneously preserves the medial structure and ensures high medial mesh quality. The medial structure, consisting of interconnected sheets, seams, and…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…
Very high resolution (VHR) mapping through remote sensing (RS) imagery presents a new opportunity to inform decision-making and sustainable practices in countless domains. Efficient processing of big VHR data requires automated tools…
Localization in already mapped environments is a critical component in many robotics and automotive applications, where previously acquired information can be exploited along with sensor fusion to provide robust and accurate localization…
In Image Compression, the researchers' aim is to reduce the number of bits required to represent an image by removing the spatial and spectral redundancies. Recently discrete wavelet transform and wavelet packet has emerged as popular…
In radar systems, unimodular (or constant-modulus) waveform design plays an important role in achieving better clutter/interference rejection, as well as a more accurate estimation of the target parameters. The design of such sequences has…
For intelligent robots to interact in meaningful ways with their environment, they must understand both the geometric and semantic properties of the scene surrounding them. The majority of research to date has addressed these mapping…
Image registration is the process of transforming different sets of data into one coordinate system and is required for various remote sensing applications like change detection, image fusion, and other related areas. The effect of…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
As the application scenarios of mobile robots are getting more complex and challenging, scene understanding becomes increasingly crucial. A mobile robot that is supposed to operate autonomously in indoor environments must have precise…
Policy learning focuses on devising strategies for agents in embodied artificial intelligence systems to perform optimal actions based on their perceived states. One of the key challenges in policy learning involves handling complex,…
Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…
Many real-world physics and engineering problems arise in geometrically complex domains discretized by meshes for numerical simulations. The nodes of these potentially irregular meshes naturally form point clouds whose limited tractability…
A Scene, represented visually using different formats such as RGB-D, LiDAR scan, keypoints, rectangular, spherical, multi-views, etc., contains information implicitly embedded relevant to applications such as scene indexing, vision-based…
In order to deal with the scaling problem of volumetric map representations we propose spatially local methods for high-ratio compression of 3D maps, represented as truncated signed distance fields. We show that these compressed maps can be…