相关论文: Evaluation of 3D CNN Semantic Mapping for Rover Na…

We propose a novel approach to robot-operated active understanding of unknown indoor scenes, based on online RGBD reconstruction with semantic segmentation. In our method, the exploratory robot scanning is both driven by and targeting at…

Exploration is an important step in autonomous navigation of robotic systems. In this paper we introduce a series of enhancements for exploration algorithms in order to use them with vision-based simultaneous localization and mapping…

Matching sonar images with high accuracy has been a problem for a long time, as sonar images are inherently hard to model due to reflections, noise and viewpoint dependence. Autonomous Underwater Vehicles require good sonar image matching…

In this paper, we propose a systematic framework for fast exploration of complex and large 3-D environments using micro aerial vehicles (MAVs). The key insight is the organic integration of the frontier-based and sampling-based strategies…

Navigational signs enable humans to navigate unfamiliar environments without maps. This work studies how robots can similarly exploit signs for mapless navigation in the open world. A central challenge lies in interpreting signs: real-world…

Accurate perception of objects in the environment is important for improving the scene understanding capability of SLAM systems. In robotic and augmented reality applications, object maps with semantic and metric information show attractive…

Beyond novel view synthesis, Neural Radiance Fields are useful for applications that interact with the real world. In this paper, we use them as an implicit map of a given scene and propose a camera relocalization algorithm tailored for…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…

It has long been considered a significant problem to improve the visual quality of lossy image and video compression. Recent advances in computing power together with the availability of large training data sets has increased interest in…

To enable robots to comprehend high-level human instructions and perform complex tasks, a key challenge lies in achieving comprehensive scene understanding: interpreting and interacting with the 3D environment in a meaningful way. This…

Planetary exploration missions with Mars rovers are complicated, which generally require elaborated task planning by human experts, from the path to take to the images to capture. NASA has been using this process to acquire over 22 million…

The Landform contextual mesh fuses 2D and 3D data from up to thousands of Mars 2020 rover images, along with orbital elevation and color maps from Mars Reconnaissance Orbiter, into an interactive 3D terrain visualization. Contextual meshes…

A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the increasing industrial interest in mobile robotics, especially in…

Comprehending 3D environments is vital for intelligent systems in domains like robotics and autonomous navigation. Voxel grids offer a structured representation of 3D space, but extracting high-level semantic meaning remains challenging.…

A potential Mars Sample Return (MSR) architecture is being jointly studied by NASA and ESA. As currently envisioned, the MSR campaign consists of a series of 3 missions: sample cache, fetch and return to Earth. In this paper, we focus on…

Comprehensive scene understanding is a critical enabler of robot autonomy. Semantic segmentation is one of the key scene understanding tasks which is pivotal for several robotics applications including autonomous driving, domestic service…

Exploration of terrestrial planets such as Mars are conducted using orbiters, landers and rovers. Cameras and instruments onboard orbiters have enabled global mapping of Mars at low spatial resolution. Landers and rovers such as the Mars…

We present a method for generating, predicting, and using Spatiotemporal Occupancy Grid Maps (SOGM), which embed future semantic information of real dynamic scenes. We present an auto-labeling process that creates SOGMs from noisy real…

Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which…

The Radio Environment Map (REM) provides an effective approach to Dynamic Spectrum Access (DSA) in Cognitive Radio Networks (CRNs). Previous results on REM construction show that there exists a tradeoff between the number of measurements…