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

As the demand for autonomous navigation in off-road environments increases, the need for effective solutions to understand these surroundings becomes essential. In this study, we confront the inherent complexities of semantic segmentation…

This paper proposes a Guidance, Navigation, and Control (GNC) architecture for planetary rovers targeting the conditions of upcoming Mars exploration missions such as Mars 2020 and the Sample Fetching Rover (SFR). The navigation…

Underwater acoustic environment estimation is a challenging but important task for remote sensing scenarios. Current estimation methods require high signal strength and a solution to the fragile echo labeling problem to be effective. In…

A Radio Environment Map (REM) is a powerful tool in enhancing the experience of radio-enabled agents but building such a REM can be a laborious undertaking, especially in three dimensions. This project shows how such a REM of an indoor…

The land cover classification has played an important role in remote sensing because it can intelligently identify things in one huge remote sensing image to reduce the work of humans. However, a lot of classification methods are designed…

This paper proposes a bandwidth tunable technique for real-time probabilistic scene modeling and mapping to enable co-robotic exploration in communication constrained environments such as the deep sea. The parameters of the system enable…

Exploration in an unknown environment is the core functionality for mobile robots. Learning-based exploration methods, including convolutional neural networks, provide excellent strategies without human-designed logic for the feature…

In remote sensing images, the absolute orientation of objects is arbitrary. Depending on an object's orientation and on a sensor's flight path, objects of the same semantic class can be observed in different orientations in the same image.…

Semantic mapping is the task of providing a robot with a map of its environment beyond the open, navigable space of traditional Simultaneous Localization and Mapping (SLAM) algorithms by attaching semantics to locations. The system…

Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and significant manual effort to label objects. This limits their…

Semantic segmentation of raw 3D point clouds is an essential component in 3D scene analysis, but it poses several challenges, primarily due to the non-Euclidean nature of 3D point clouds. Although, several deep learning based approaches…

We present NeuralLabeling, a labeling approach and toolset for annotating 3D scenes using either bounding boxes or meshes and generating segmentation masks, affordance maps, 2D bounding boxes, 3D bounding boxes, 6DOF object poses, depth…

Semantic navigation is the navigation paradigm in which environmental semantic concepts and their relationships are taken into account to plan the route of a mobile robot. This paradigm facilitates the interaction with humans and the…

Autonomous off-road navigation requires an accurate semantic understanding of the environment, often converted into a bird's-eye view (BEV) representation for various downstream tasks. While learning-based methods have shown success in…

Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…

We study how autonomous robots can learn by themselves to improve their depth estimation capability. In particular, we investigate a self-supervised learning setup in which stereo vision depth estimates serve as targets for a convolutional…

The ability to determine the pose of a rover in an inertial frame autonomously is a crucial capability necessary for the next generation of surface rover missions on other planetary bodies. Currently, most on-going rover missions utilize…

3D representation disentanglement aims to identify, decompose, and manipulate the underlying explanatory factors of 3D data, which helps AI fundamentally understand our 3D world. This task is currently under-explored and poses great…

For applications such as autonomous driving, self-localization/camera pose estimation and scene parsing are crucial technologies. In this paper, we propose a unified framework to tackle these two problems simultaneously. The uniqueness of…

Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…