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Semantic Bird's Eye View (BEV) maps offer a rich representation with strong occlusion reasoning for various decision making tasks in autonomous driving. However, most BEV mapping approaches employ a fully supervised learning paradigm that…
Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…
Semantic scene completion (SSC) jointly predicts the semantics and geometry of the entire 3D scene, which plays an essential role in 3D scene understanding for autonomous driving systems. SSC has achieved rapid progress with the help of…
Semantic maps allow a robot to reason about its surroundings to fulfill tasks such as navigating known environments, finding specific objects, and exploring unmapped areas. Traditional mapping approaches provide accurate geometric…
While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant…
One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…
Scene understanding is an important capability for robots acting in unstructured environments. While most SLAM approaches provide a geometrical representation of the scene, a semantic map is necessary for more complex interactions with the…
Recent advancements in statistical learning and computational abilities have enabled autonomous vehicle technology to develop at a much faster rate. While many of the architectures previously introduced are capable of operating under highly…
Modern intelligent and autonomous robotic applications often require robots to have more information about their environment than that provided by traditional occupancy grid maps. For example, a robot tasked to perform autonomous semantic…
Recent advances in autonomous driving systems have shifted towards reducing reliance on high-definition maps (HDMaps) due to the huge costs of annotation and maintenance. Instead, researchers are focusing on online vectorized HDMap…
In order to operate in human environments, a robot's semantic perception has to overcome open-world challenges such as novel objects and domain gaps. Autonomous deployment to such environments therefore requires robots to update their…
Autonomous driving technology has the potential to transform transportation, but its wide adoption depends on the development of interpretable and transparent decision-making systems. Scene captioning, which generates natural language…
The goal of perception for autonomous vehicles is to extract semantic representations from multiple sensors and fuse these representations into a single "bird's-eye-view" coordinate frame for consumption by motion planning. We propose a new…
Online scene perception and topology reasoning are critical for autonomous vehicles to understand their driving environments, particularly for mapless driving systems that endeavor to reduce reliance on costly High-Definition (HD) maps.…
Generally capable Spatial AI systems must build persistent scene representations where geometric models are combined with meaningful semantic labels. The many approaches to labelling scenes can be divided into two clear groups: view-based…
3D scene understanding is fundamental for embodied AI and robotics, supporting reliable perception for interaction and navigation. Recent approaches achieve zero-shot, open-vocabulary 3D semantic mapping by assigning embedding vectors to 2D…
Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which…
Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarchy of semantic entities and their relationships, and can be…
This paper presents a system for autonomous semantic exploration and dense semantic target mapping of a complex unknown environment using a ground robot equipped with a LiDAR-panoramic camera suite. Existing approaches often struggle to…
In target-driven navigation and autonomous exploration, reasonable prediction of unknown regions is crucial for efficient navigation and environment understanding. Existing methods mostly focus on single objects or geometric occupancy maps,…