相关论文: Semantic MapNet: Building Allocentric Semantic Map…

This paper introduces a novel semantics-aware inspection planning policy derived through deep reinforcement learning. Reflecting the fact that within autonomous informative path planning missions in unknown environments, it is often only a…

Mainstream autonomous exploration methods usually perform excessively-repeated explorations for the same region, leading to long exploration time and exploration trajectory in complex scenes. To handle this issue, we propose a novel…

2D top-down maps are commonly used for the navigation and exploration of mobile robots through unknown areas. Typically, the robot builds the navigation maps incrementally from local observations using onboard sensors. Recent works have…

The creation of a metric-semantic map, which encodes human-prior knowledge, represents a high-level abstraction of environments. However, constructing such a map poses challenges related to the fusion of multi-modal sensor data, the…

Visual cognition of the indoor environment can benefit from the spatial layout estimation, which is to represent an indoor scene with a 2D box on a monocular image. In this paper, we propose to fully exploit the edge and semantic…

Pixel-level 2D object semantic understanding is an important topic in computer vision and could help machine deeply understand objects (e.g. functionality and affordance) in our daily life. However, most previous methods directly train on…

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…

Mobile robots and autonomous vehicles rely on multi-modal sensor setups to perceive and understand their surroundings. Aside from cameras, LiDAR sensors represent a central component of state-of-the-art perception systems. In addition to…

If a robotic agent wants to exploit symbolic planning techniques to achieve some goal, it must be able to properly ground an abstract planning domain in the environment in which it operates. However, if the environment is initially unknown…

Automatic photo adjustment is to mimic the photo retouching style of professional photographers and automatically adjust photos to the learned style. There have been many attempts to model the tone and the color adjustment globally with…

Learning structured task representations from human demonstrations is essential for understanding long-horizon manipulation behaviors, particularly in bimanual settings where action ordering, object involvement, and interaction geometry can…

An environment representation (ER) is a substantial part of every autonomous system. It introduces a common interface between perception and other system components, such as decision making, and allows downstream algorithms to deal with…

Local feature detection and description play an important role in many computer vision tasks, which are designed to detect and describe keypoints in "any scene" and "any downstream task". Data-driven local feature learning methods need to…

We propose a novel unsupervised cross-modal homography estimation framework based on intra-modal Self-supervised learning, Correlation, and consistent feature map Projection, namely SCPNet. The concept of intra-modal self-supervised…

Learning navigation capabilities in different environments has long been one of the major challenges in decision-making. In this work, we focus on zero-shot navigation ability using given abstract $2$-D top-down maps. Like human navigation…

This article presents a novel approach to identifying and classifying intersections for semantic and topological mapping. More specifically, the proposed novel approach has the merit of generating a semantically meaningful map containing…

Semantic segmentation networks are usually pre-trained once and not updated during deployment. As a consequence, misclassifications commonly occur if the distribution of the training data deviates from the one encountered during the robot's…

In visual semantic navigation, the robot navigates to a target object with egocentric visual observations and the class label of the target is given. It is a meaningful task inspiring a surge of relevant research. However, most of the…

In this paper, we introduce the Semantic Environment Atlas (SEA), a novel mapping approach designed to enhance visual navigation capabilities of embodied agents. The SEA utilizes semantic graph maps that intricately delineate the…

While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant…