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

Synthetic image generation is one of the crucial input for planetary missions. It enables researchers and engineers to visualize planned planetary missions, test imaging systems and plan exploration activities in a virtual environment…

Multi-scale deep CNNs have been used successfully for problems mapping each pixel to a label, such as depth estimation and semantic segmentation. It has also been shown that such architectures are reusable and can be used for multiple…

Vision-language navigation (VLN) requires an agent to navigate through an 3D environment based on visual observations and natural language instructions. It is clear that the pivotal factor for successful navigation lies in the comprehensive…

Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…

We consider the problem of rover relocalization in the context of the notional Mars Sample Return campaign. In this campaign, a rover (R1) needs to be capable of autonomously navigating and localizing itself within an area of approximately…

This paper focuses on semantic scene completion, a task for producing a complete 3D voxel representation of volumetric occupancy and semantic labels for a scene from a single-view depth map observation. Previous work has considered scene…

With the rapid development of Remote Sensing acquisition techniques, there is a need to scale and improve processing tools to cope with the observed increase of both data volume and richness. Among popular techniques in remote sensing, Deep…

Depth perception is fundamental for robots to understand the surrounding environment. As the view of cognitive neuroscience, visual depth perception methods are divided into three categories, namely binocular, active, and pictorial. The…

With the rapid growing of remotely sensed imagery data, there is a high demand for effective and efficient image retrieval tools to manage and exploit such data. In this letter, we present a novel content-based remote sensing image…

Semantic scene completion is the task of producing a complete 3D voxel representation of volumetric occupancy with semantic labels for a scene from a single-view observation. We built upon the recent work of Song et al. (CVPR 2017), who…

3D scene understanding is fundamental for embodied AI and robotics, supporting reliable perception for interaction and navigation. Recent approaches achieve zero-shot, open-vocabulary 3D semantic mapping by assigning embedding vectors to 2D…

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…

Within a perception framework for autonomous mobile and robotic systems, semantic analysis of 3D point clouds typically generated by LiDARs is key to numerous applications, such as object detection and recognition, and scene reconstruction.…

Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…

Unmanned aerial vehicle-assisted disaster recovery missions have been promoted recently due to their reliability and flexibility. Machine learning algorithms running onboard significantly enhance the utility of UAVs by enabling real-time…

Aerial outdoor semantic navigation requires robots to explore large, unstructured environments to locate target objects. Recent advances in semantic navigation have demonstrated open-set object-goal navigation in indoor settings, but these…

With the advancement of remote-sensed imaging large volumes of very high resolution land cover images can now be obtained. Automation of object recognition in these 2D images, however, is still a key issue. High intra-class variance and low…

Scene understanding for autonomous vehicles is a challenging computer vision task, with recent advances in convolutional neural networks (CNNs) achieving results that notably surpass prior traditional feature driven approaches. However,…

Visual Semantic Navigation (VSN) is a fundamental problem in robotics, where an agent must navigate toward a target object in an unknown environment, mainly using visual information. Most state-of-the-art VSN models are trained in…

In environments where visual sensors falter, in-air sonar provides a reliable alternative for autonomous systems. While previous research has successfully classified individual acoustic landmarks, this paper takes a step towards increasing…