相关论文: Mapping Walls of Indoor Environment using RGB-D Se…

RGB-D cameras supply rich and dense visual and spatial information for various robotics tasks such as scene understanding, map reconstruction, and localization. Integrating depth and visual information can aid robots in localization and…

We present an automatic method for annotating images of indoor scenes with the CAD models of the objects by relying on RGB-D scans. Through a visual evaluation by 3D experts, we show that our method retrieves annotations that are at least…

Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…

In this paper we propose a number of tested ways in which a low-budget demo car could be made to navigate an indoor environment. Canny Edge Detection, Supervised Floor Detection and Imitation Learning were used separately and are contrasted…

Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…

Indoor positioning aims at navigation inside areas with no GPS-data availability and could be employed in many applications such as augmented reality, autonomous driving specially inside closed areas and tunnels. In this paper, a deep…

People spend a significant amount of time in indoor spaces (e.g., office buildings, subway systems, etc.) in their daily lives. Therefore, it is important to develop efficient indoor spatial query algorithms for supporting various…

6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…

This paper describes the development of a cost-effective yet precise indoor robot navigation system composed of a custom robot controller board and an indoor positioning system. First, the proposed robot controller board has been specially…

Autonomous robotic manipulation in clutter is challenging. A large variety of objects must be perceived in complex scenes, where they are partially occluded and embedded among many distractors, often in restricted spaces. To tackle these…

RGB-D cameras, which give an RGB image to- gether with depths, are becoming increasingly popular for robotic perception. In this paper, we address the task of detecting commonly found objects in the 3D point cloud of indoor scenes obtained…

Automated monitoring and analysis of passenger movement in safety-critical parts of transport infrastructures represent a relevant visual surveillance task. Recent breakthroughs in visual representation learning and spatial sensing opened…

This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…

Lighting design and modelling or industrial applications like luminaire planning and commissioning rely heavily on time consuming manual measurements or on physically coherent computational simulations. Regarding the latter,standard…

Indoor scene recognition is a growing field with great potential for behaviour understanding, robot localization, and elderly monitoring, among others. In this study, we approach the task of scene recognition from a novel standpoint, using…

RGB-D scanning of indoor environments is important for many applications, including real estate, interior design, and virtual reality. However, it is still challenging to register RGB-D images from a hand-held camera over a long video…

In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…

The ability to open a door is essential for robots to perform home-serving and rescuing tasks. A substantial problem is to obtain the necessary parameters such as the width of the door and the length of the handle. Many researchers utilize…

Being able to estimate the traversability of the area surrounding a mobile robot is a fundamental task in the design of a navigation algorithm. However, the task is often complex, since it requires evaluating distances from obstacles, type…

In depth-sensing applications ranging from home robotics to AR/VR, it will be common to acquire 3D scans of interior spaces repeatedly at sparse time intervals (e.g., as part of regular daily use). We propose an algorithm that analyzes…