相关论文: Hypermap Mapping Framework and its Application to …
We present a modular robotic system for autonomous exploration and semantic updating of large-scale unknown environments. Our approach enables a mobile robot to build, revisit, and update a hybrid semantic map that integrates a 2D occupancy…
While 2D occupancy maps commonly used in mobile robotics enable safe navigation in indoor environments, in order for robots to understand and interact with their environment and its inhabitants representing 3D geometry and semantic…
Effective robotic autonomy in unknown environments demands proactive exploration and precise understanding of both geometry and semantics. In this paper, we propose ActiveSGM, an active semantic mapping framework designed to predict the…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
Intelligent embodied agents (e.g. robots) need to perform complex semantic tasks in unfamiliar environments. Among many skills that the agents need to possess, building and maintaining a semantic map of the environment is most crucial in…
Semantic navigation enables robots to understand their environments beyond basic geometry, allowing them to reason about objects, their functions, and their interrelationships. In semantic robotic navigation, creating accurate and…
A robot understands its world through the raw information it senses from its surroundings. This raw information is not suitable as a shared representation between the robot and its user. A semantic map, containing high-level information…
We present a solution to multi-robot distributed semantic mapping of novel and unfamiliar environments. Most state-of-the-art semantic mapping systems are based on supervised learning algorithms that cannot classify novel observations…
This article presents a novel approach to identifying and classifying intersections for semantic and topological mapping. More specifically, the proposed novel approach has the merit of generating a semantically meaningful map containing…
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a…
Creating and maintaining an accurate representation of the environment is an essential capability for every service robot. Especially for household robots acting in indoor environments, semantic information is important. In this paper, we…
Semantic 2D maps are commonly used by humans and machines for navigation purposes, whether it's walking or driving. However, these maps have limitations: they lack detail, often contain inaccuracies, and are difficult to create and…
This paper focuses on real-time occupancy mapping and collision checking onboard an autonomous robot navigating in an unknown environment. We propose a new map representation, in which occupied and free space are separated by the decision…
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…
This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…
Semantic segmentation enables robots to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown environments,…
In this paper, we present an integrated solution to memory-efficient environment modeling by an autonomous mobile robot equipped with a laser range-finder. Majority of nowadays approaches to autonomous environment modeling, called…
For autonomous robots navigating in urban environments, it is important for the robot to stay on the designated path of travel (i.e., the footpath), and avoid areas such as grass and garden beds, for safety and social conformity…
Robotic systems demand accurate and comprehensive 3D environment perception, requiring simultaneous capture of photo-realistic appearance (optical), precise layout shape (geometric), and open-vocabulary scene understanding (semantic).…