相关论文: Robust Frequency-Based Structure Extraction

Mobile robots navigating in outdoor environments frequently encounter the issue of undesired traces left by dynamic objects and manifested as obstacles on map, impeding robots from achieving accurate localization and effective navigation.…

We propose the segmentation of noisy datasets into Multiple Inlier Structures with a new Robust Estimator (MISRE). The scale of each individual structure is estimated adaptively from the input data and refined by mean shift, without tuning…

Recently, a number of grasp detection methods have been proposed that can be used to localize robotic grasp configurations directly from sensor data without estimating object pose. The underlying idea is to treat grasp perception…

This paper uses the smoothing and mapping framework to solve the SLAM problem in indoor environments; focusing on how some key issues such as feature extraction and data association can be handled by applying probabilistic techniques. For…

In this paper, we propose a novel method for plane clustering specialized in cluttered scenes using an RGB-D camera and validate its effectiveness through robot grasping experiments. Unlike existing methods, which focus on large-scale…

Recognition of occluded objects in unseen and unstructured indoor environments is a challenging problem for mobile robots. To address this challenge, we propose a new descriptor, TOPS, for point clouds generated from depth images and an…

Mobile robots navigating in indoor and outdoor environments must be able to identify and avoid unsafe terrain. Although a significant amount of work has been done on the detection of standing obstacles (solid obstructions), not much work…

Machine learning (ML) facilitates rapid channel modeling for 5G and beyond wireless communication systems. Many existing ML techniques utilize a city map to construct the radio map; however, an updated city map may not always be available.…

Vehicle detection in real-time scenarios is challenging because of the time constraints and the presence of multiple types of vehicles with different speeds, shapes, structures, etc. This paper presents a new method relied on generating a…

Urban structure detection is a basic task in urban geography. Clustering is a core technology to detect the patterns of urban spatial structure, urban functional region, and so on. In big data era, diverse urban sensing datasets recording…

Inferring walls configuration of indoor environment could help robot "understand" the environment better. This allows the robot to execute a task that involves inter-room navigation, such as picking an object in the kitchen. In this paper,…

A major challenge when trying to detect fraud is that the fraudulent activities form a minority class which make up a very small proportion of the data set. In most data sets, fraud occurs in typically less than 0.5% of the cases. Detecting…

This work proposes an autonomous multi-robot exploration pipeline that coordinates the behaviors of robots in an indoor environment composed of multiple rooms. Contrary to simple frontier-based exploration approaches, we aim to enable…

We present a novel approach for enhancing robotic exploration by using generative occupancy mapping. We implement SceneSense, a diffusion model designed and trained for predicting 3D occupancy maps given partial observations. Our proposed…

Robot exploration aims at the reconstruction of unknown environments, and it is important to achieve it with shorter paths. Traditional methods focus on optimizing the visiting order of frontiers based on current observations, which may…

Lifelong indoor localization in a given map is the basis for navigation of autonomous mobile robots. In this letter, we address the problem of robust localization in cluttered indoor environments like office spaces and corridors using 3D…

Texture is one of the most important properties of visual surface that helps in discriminating one object from another or an object from background. The self-organizing map (SOM) is an excellent tool in exploratory phase of data mining. It…

In this letter, a novel method for change detection is proposed using neighborhood structure correlation. Because structure features are insensitive to the intensity differences between bi-temporal images, we perform the correlation…

In recent years, an ever-increasing number of remote satellites are orbiting the Earth which streams vast amount of visual data to support a wide range of civil, public and military applications. One of the key information obtained from…

There is a growing interest in discovery of internet topology at the interface level. A new generation of highly distributed measurement systems is currently being deployed. Unfortunately, the research community has not examined the problem…