Related papers: Indoor Exploration and Simultaneous Trolley Collec…
Zero-shot Object Navigation (ZSON) has shown promise for open-vocabulary target search in unseen environments, yet most existing systems remain tied to planar representations and single-floor assumptions. These assumptions become inadequate…
This paper details a system for fast visual exploration and search without prior map information. We leverage frontier based planning with both LiDAR and visual sensing and augment it with a perception module that contextually labels points…
An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…
Depth completion and object detection are two crucial tasks often used for aerial 3D mapping, path planning, and collision avoidance of Uncrewed Aerial Vehicles (UAVs). Common solutions include using measurements from a LiDAR sensor;…
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…
Personalization is critical for the advancement of service robots. Robots need to develop tailored understandings of the environments they are put in. Moreover, they need to be aware of changes in the environment to facilitate long-term…
Recognizing objects in dense clutter accurately plays an important role to a wide variety of robotic manipulation tasks including grasping, packing, rearranging and many others. However, conventional visual recognition models usually miss…
Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined…
Camouflaged object detection intends to discover the concealed objects hidden in the surroundings. Existing methods follow the bio-inspired framework, which first locates the object and second refines the boundary. We argue that the…
A key challenge for autonomous vehicles is to navigate in unseen dynamic environments. Separating moving objects from static ones is essential for navigation, pose estimation, and understanding how other traffic participants are likely to…
Collision detection algorithms are used in aerospace, swarm robotics, automotive, video gaming, dynamics simulation and other domains. As many applications of collision detection run online, timing requirements are imposed on the algorithm…
We present an algorithm to explore an orthogonal polygon using a team of $p$ robots. This algorithm combines ideas from information-theoretic exploration algorithms and computational geometry based exploration algorithms. We show that the…
In this paper, we propose an efficient semantic segmentation framework for indoor scenes, tailored to the application on a mobile robot. Semantic segmentation can help robots to gain a reasonable understanding of their environment, but to…
Environment modeling in autonomous driving is realized by two fundamental approaches, grid-based and feature-based approach. Both methods interpret the environment differently and show some situation-dependent beneficial realizations. In…
The safe and efficient operation of Autonomous Mobile Robots (AMRs) in complex environments, such as manufacturing, logistics, and agriculture, necessitates accurate multi-object tracking and predictive collision avoidance. This paper…
Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in discrete grid form and suffer from the grid size problem,…
We devise a cooperative planning framework to generate optimal trajectories for a tethered robot duo, who is tasked to gather scattered objects spread in a large area using a flexible net. Specifically, the proposed planning framework first…
Airborne topographic LiDAR is an active remote sensing technology that emits near-infrared light to map objects on the Earth's surface. Derived products of LiDAR are suitable to service a wide range of applications because of their rich…
Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…
We consider the problem of time-limited robotic exploration in previously unseen environments where exploration is limited by a predefined amount of time. We propose a novel exploration approach using learning-augmented model-based…