相关论文: An Eigenshapes Approach to Compressed Signed Dista…

Mapping is crucial in robotics for localization and downstream decision-making. As robots are deployed in ever-broader settings, the maps they rely on continue to increase in size. However, storing these maps indefinitely (cold storage),…

This paper addresses the problem of the communication of optimally compressed information for mobile robot path-planning. In this context, mobile robots compress their current local maps to assist another robot in reaching a target in an…

Implicit neural representations (INRs) have been successfully used to compress a variety of 3D surface representations such as Signed Distance Functions (SDFs), voxel grids, and also other forms of structured data such as images, videos,…

In this paper, we develop a systematic framework for the time-sequential compression of dynamic probabilistic occupancy grids. Our approach leverages ideas from signal compression theory to formulate an optimization problem that searches…

This paper contributes a novel learning-based method for aggressive task-driven compression of depth images and their encoding as images tailored to collision prediction for robotic systems. A novel 3D image processing methodology is…

Camera sensors have been widely used in intelligent robotic systems. Developing camera sensors with high sensing efficiency has always been important to reduce the power, memory, and other related resources. Inspired by recent success on…

One of the main difficulties of scaling current localization systems to large environments is the on-board storage required for the maps. In this paper we propose to learn to compress the map representation such that it is optimal for the…

Real-world data typically contain repeated and periodic patterns. This suggests that they can be effectively represented and compressed using only a few coefficients of an appropriate basis (e.g., Fourier, Wavelets, etc.). However, distance…

Neural Fields (NFs) have gained momentum as a tool for compressing various data modalities - e.g. images and videos. This work leverages previous advances and proposes a novel NF-based compression algorithm for 3D data. We derive two…

Localizing an image wrt. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots…

Unlike 2D raster images, there is no single dominant representation for 3D visual data processing. Different formats like point clouds, meshes, or implicit functions each have their strengths and weaknesses. Still, grid representations such…

3D representations of highly deformable 3D models, such as dynamic 3D meshes, have recently become very popular due to their wide applicability in various domains. This trend inevitably leads to a demand for storage and transmission of…

The signed distance field is a popular implicit shape representation in robotics, providing geometric information about objects and obstacles in a form that can easily be combined with control, optimization and learning techniques. Most…

Large-scale environmental sensing with a finite number of mobile sensors is a challenging task that requires a lot of resources and time. This is especially true when features in the environment are spatiotemporally changing with unknown or…

For a multi-robot team that collaboratively explores an unknown environment, it is of vital importance that collected information is efficiently shared among robots in order to support exploration and navigation tasks. Practical constraints…

Autonomous vehicles and Advanced Driving Assistance Systems (ADAS) have the potential to radically change the way we travel. Many such vehicles currently rely on segmentation and object detection algorithms to detect and track objects…

Localization in a pre-built map is a basic technique for robot autonomous navigation. Existing mapping and localization methods commonly work well in small-scale environments. As a map grows larger, however, more memory is required and…

In this work, we propose a novel approach to represent robot geometry as distance fields (RDF) that extends the principle of signed distance fields (SDFs) to articulated kinematic chains. Our method employs a combination of Bernstein…

Accurate and dense mapping in large-scale environments is essential for various robot applications. Recently, implicit neural signed distance fields (SDFs) have shown promising advances in this task. However, most existing approaches employ…

The Large-scale 3D reconstruction, texturing and semantic mapping are nowadays widely used for automated driving vehicles, virtual reality and automatic data generation. However, most approaches are developed for RGB-D cameras with colored…