相关论文: Online Semantic Exploration of Indoor Maps

Floor plans are the basis of reasoning in and communicating about indoor environments. In this paper, we show that by modelling floor plans as sequences of line segments seen from a particular point of view, recent advances in…

We propose a method for room layout estimation that does not rely on the typical box approximation or Manhattan world assumption. Instead, we reformulate the geometry inference problem as an instance detection task, which we solve by…

Robots are required to not only learn spatial concepts autonomously but also utilize such knowledge for various tasks in a domestic environment. Spatial concept represents a multimodal place category acquired from the robot's spatial…

Cognitive maps play a crucial role in facilitating flexible behaviour by representing spatial and conceptual relationships within an environment. The ability to learn and infer the underlying structure of the environment is crucial for…

When people search for information about a new topic within large document collections, they implicitly construct a mental model of the unfamiliar information space to represent what they currently know and guide their exploration into the…

Inspired by Bayesian approaches to brain function in neuroscience, we give a simple theory of probabilistic inference for a unified account of reasoning and learning. We simply model how data cause symbolic knowledge in terms of its…

Building Information Modeling (BIM) technology is a key component of modern construction engineering and project management workflows. As-is BIM models that represent the spatial reality of a project site can offer crucial information to…

In this paper, we propose a method that, given a partial grid map of an indoor environment built by an autonomous mobile robot, estimates the amount of the explored area represented in the map, as well as whether the uncovered part is still…

Recently, there has been a growing interest in developing saliency methods that provide visual explanations of network predictions. Still, the usability of existing methods is limited to image classification models. To overcome this…

The success of neural networks builds to a large extent on their ability to create internal knowledge representations from real-world high-dimensional data, such as images, sound, or text. Approaches to extract and present these…

Analysis of indoor spaces requires topological information. In this paper, we propose to extract topological information from room attributes using what we call Iterative and adaptive graph Topology Learning (ITL). ITL progressively…

This paper proposes a novel method to identify unexpected structures in 2D floor plans using the concept of Bayesian Surprise. Taking into account that a person's expectation is an important aspect of the perception of space, we exploit the…

In this paper, we develop a framework to obtain graph abstractions for decision-making by an agent where the abstractions emerge as a function of the agent's limited computational resources. We discuss the connection of the proposed…

Neural networks are becoming a popular tool for solving many real-world problems such as object recognition and machine translation, thanks to its exceptional performance as an end-to-end solution. However, neural networks are complex…

This work seeks to tackle the inherent complexity of dataspaces by introducing a novel data structure that can represent datasets across multiple levels of abstraction, ranging from local to global. We propose the concept of a multilevel…

Maps --- specifically floor plans --- are useful for a variety of tasks from arranging furniture to designating conceptual or functional spaces (e.g., kitchen, walkway). We present a simple algorithm for quickly laying a floor plan (or…

This paper introduces abstractions that are meaningful for computers and that can be built and used according to computers' own criteria, i.e., computable abstractions. It is analyzed how abstractions can be seen to serve as the building…

We introduce a generic, compositional and interpretable class of generative world models that supports open-ended learning agents. This is a sparse class of Bayesian networks capable of approximating a broad range of stochastic processes,…

This paper presents a new approach to recognize elements in floor plan layouts. Besides walls and rooms, we aim to recognize diverse floor plan elements, such as doors, windows and different types of rooms, in the floor layouts. To this…

The complexity of large-scale distributed systems, particularly when deployed in physical space, calls for new mechanisms to address composability and reusability of collective adaptive behaviour. Computational fields have been proposed as…