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We present a new method of learning a continuous occupancy field for use in robot navigation. Occupancy grid maps, or variants of, are possibly the most widely used and accepted method of building a map of a robot's environment. Various…

We tackle the problem of object detection and pose estimation in a shared space downtown environment. For perception multiple laser scanners with 360{\deg} coverage were fused in a dynamic occupancy grid map (DOGMa). A single-stage deep…

Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework…

The task of room layout estimation is to locate the wall-floor, wall-ceiling, and wall-wall boundaries. Most recent methods solve this problem based on edge/keypoint detection or semantic segmentation. However, these approaches have shown…

Scene completion and forecasting are two popular perception problems in research for mobile agents like autonomous vehicles. Existing approaches treat the two problems in isolation, resulting in a separate perception of the two aspects. In…

Staircases are some of the most common building structures in urban environments. Stair detection is an important task for various applications, including the environmental perception of exoskeleton robots, humanoid robots, and rescue…

Recent works find that AI algorithms learn biases from data. Therefore, it is urgent and vital to identify biases in AI algorithms. However, the previous bias identification pipeline overly relies on human experts to conjecture potential…

This work proposes a perception system for autonomous vehicles and advanced driver assistance specialized on unpaved roads and off-road environments. In this research, the authors have investigated the behavior of Deep Learning algorithms…

The ability to navigate from visual observations in unfamiliar environments is a core component of intelligent agents and an ongoing challenge for Deep Reinforcement Learning (RL). Street View can be a sensible testbed for such RL agents,…

Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…

People navigating in unfamiliar buildings take advantage of myriad visual, spatial and semantic cues to efficiently achieve their navigation goals. Towards equipping computational agents with similar capabilities, we introduce Pathdreamer,…

We investigate the multi-step prediction of the drivable space, represented by Occupancy Grid Maps (OGMs), for autonomous vehicles. Our motivation is that accurate multi-step prediction of the drivable space can efficiently improve path…

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…

In this paper, we propose a novel architecture and a self-supervised policy gradient algorithm, which employs unsupervised auxiliary tasks to enable a mobile robot to learn how to navigate to a given goal. The dependency on the global…

Addressing the Out-of-Distribution (OoD) segmentation task is a prerequisite for perception systems operating in an open-world environment. Large foundational models are frequently used in downstream tasks, however, their potential for OoD…

Robotic perception requires the modeling of both 3D geometry and semantics. Existing methods typically focus on estimating 3D bounding boxes, neglecting finer geometric details and struggling to handle general, out-of-vocabulary objects. 3D…

The capacity to predict human spatial preferences within built environments is instrumental for developing Cyber-Physical-Social Infrastructure Systems (CPSIS). A significant challenge in this domain is the generalizability of preference…

Dynamic Occupancy Grid Mapping is a technique used to generate a local map of the environment containing both static and dynamic information. Typically, these maps are primarily generated using lidar measurements. However, with improvements…

Today, mobile robots are expected to carry out increasingly complex tasks in multifarious, real-world environments. Often, the tasks require a certain semantic understanding of the workspace. Consider, for example, spoken instructions from…

Pedestrian detection has significantly progressed in recent years, thanks to the development of DNNs. However, detection performance at occluded scenes is still far from satisfactory, as occlusion increases the intra-class variance of…