相关论文: Explainable Semantic Mapping for First Responders

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…

Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…

Deep learning based localization and mapping has recently attracted significant attention. Instead of creating hand-designed algorithms through exploitation of physical models or geometric theories, deep learning based solutions provide an…

Road detection or traversability analysis has been a key technique for a mobile robot to traverse complex off-road scenes. The problem has been mainly formulated in early works as a binary classification one, e.g. associating pixels with…

Efficient data collection methods play a major role in helping us better understand the Earth and its ecosystems. In many applications, the usage of unmanned aerial vehicles (UAVs) for monitoring and remote sensing is rapidly gaining…

The creation of a metric-semantic map, which encodes human-prior knowledge, represents a high-level abstraction of environments. However, constructing such a map poses challenges related to the fusion of multi-modal sensor data, the…

Understanding the scene around the ego-vehicle is key to assisted and autonomous driving. Nowadays, this is mostly conducted using cameras and laser scanners, despite their reduced performances in adverse weather conditions. Automotive…

Semantic segmentation was seen as a challenging computer vision problem few years ago. Due to recent advancements in deep learning, relatively accurate solutions are now possible for its use in automated driving. In this paper, the semantic…

3D semantic maps have played an increasingly important role in high-precision robot localization and scene understanding. However, real-time construction of semantic maps requires mobile edge devices with extremely high computing power,…

We propose a new and, arguably, a very simple reduction of instance segmentation to semantic segmentation. This reduction allows to train feed-forward non-recurrent deep instance segmentation systems in an end-to-end fashion using…

Traversability estimation in off-road terrains is an essential procedure for autonomous navigation. However, creating reliable labels for complex interactions between the robot and the surface is still a challenging problem in…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

Semantic segmentation is an important and popular research area in computer vision that focuses on classifying pixels in an image based on their semantics. However, supervised deep learning requires large amounts of data to train models and…

Semantic image segmentation is an important computer vision task that is difficult because it consists of both recognition and segmentation. The task is often cast as a structured output problem on an exponentially large output-space, which…

Many automated processes such as auto-piloting rely on a good semantic segmentation as a critical component. To speed up performance, it is common to downsample the input frame. However, this comes at the cost of missed small objects and…

Traditionally, training neural networks to perform semantic segmentation required expensive human-made annotations. But more recently, advances in the field of unsupervised learning have made significant progress on this issue and towards…

Real-time semantic segmentation of remote sensing imagery is a challenging task that requires a trade-off between effectiveness and efficiency. It has many applications including tracking forest fires, detecting changes in land use and land…

Large Language Models (LLM) have emerged as a tool for robots to generate task plans using common sense reasoning. For the LLM to generate actionable plans, scene context must be provided, often through a map. Recent works have shifted from…

In this work, we present an approach to learn cost maps for driving in complex urban environments from a very large number of demonstrations of driving behaviour by human experts. The learned cost maps are constructed directly from raw…

In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…