Related papers: A Robust, Task-Agnostic and Fully-Scalable Voxel M…
Medical images are often acquired in different settings, requiring harmonization to adapt to the operating point of algorithms. Specifically, to standardize the physical spacing of imaging voxels in heterogeneous inference settings, images…
The recent success of neural networks enables a better interpretation of 3D point clouds, but processing a large-scale 3D scene remains a challenging problem. Most current approaches divide a large-scale scene into small regions and combine…
The real-time dynamic environment perception has become vital for autonomous robots in crowded spaces. Although the popular voxel-based mapping methods can efficiently represent 3D obstacles with arbitrarily complex shapes, they can hardly…
The increasingly complex and diverse planetary exploration environment requires more adaptable and flexible rover navigation strategy. In this study, we propose a VLM-empowered multi-mode system to achieve efficient while safe autonomous…
Real-time detection of objects in the 3D scene is one of the tasks an autonomous agent needs to perform for understanding its surroundings. While recent Deep Learning-based solutions achieve satisfactory performance, their high…
Autonomous navigation is needed for several robotics applications. In this paper we present an autonomous Micro Aerial Vehicle (MAV) system which purely relies on cost-effective and light-weight passive visual and inertial sensors to…
For scalable autonomous driving, a robust map-based localization system, independent of GPS, is fundamental. To achieve such map-based localization, online high-definition (HD) map construction plays a significant role in accurate…
While humans can successfully navigate using abstractions, ignoring details that are irrelevant to the task at hand, most existing robotic applications require the maintenance of a detailed environment representation which consumes a…
High-definition (HD) map is a fundamental component of autonomous driving systems, as it can provide precise environmental information about driving scenes. Recent work on vectorized map generation could produce merely 65% local map…
3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoustic sensors are plagued by high noise and a lack of 3D…
Task generation for underwater multi-robot inspections without prior knowledge of existing geometry can be achieved and optimized through examination of simultaneous localization and mapping (SLAM) data. By considering hardware parameters…
Multi-robot systems are an efficient method to explore and map an unknown environment. The simulataneous localization and mapping (SLAM) algorithm is common for single robot systems, however multiple robots can share respective map data in…
A team of multiple robots seamlessly and safely working in human-filled public environments requires adaptive task allocation and socially-aware navigation that account for dynamic human behavior. Current approaches struggle with highly…
This article introduces an approach to facilitate cooperative exploration and mapping of large-scale, near-ground, underground, or indoor spaces via a novel integration framework for locally-dense agent map data. The effort targets limited…
With the arrival of digital maps, the ubiquity of maps has increased sharply and new map functionalities have become available such as changing the scale on the fly or displaying/hiding layers. Users can now interact with maps on multiple…
Grounding language to a navigating agent's observations can leverage pretrained multimodal foundation models to match perceptions to object or event descriptions. However, previous approaches remain disconnected from environment mapping,…
Hierarchical, multi-resolution volumetric mapping approaches are widely used to represent large and complex environments as they can efficiently capture their occupancy and connectivity information. Yet widely used path planning methods…
Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…
This paper proposes a voxel-based approach for creating a digital twin of an urban environment that is capable of efficiently managing smart spaces. The paper explains the registration and localization procedure of the point cloud dataset,…
Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…