相关论文: Active and Interactive Mapping with Dynamic Gaussi…

Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of applications. However, most existing strategies neglect the fundamental problem of the robot pose…

In this work we study the problem of exploring surfaces and building compact 3D representations of the environment surrounding a robot through active perception. We propose an online probabilistic framework that merges visual and tactile…

Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene using an RGB-D camera on a mobile platform. We propose a…

Active mapping aims to determine how an agent should move to efficiently reconstruct unknown environments. Most existing approaches rely on greedy next-best-view prediction, resulting in inefficient exploration and incomplete…

Human-robot collaborative applications require scene representations that are kept up-to-date and facilitate safe motions in dynamic scenes. In this letter, we present an interactive distance field mapping and planning (IDMP) framework that…

Most of the existing robotic exploration schemes use occupancy grid representations and geometric targets known as frontiers. The occupancy grid representation relies on the assumption of independence between grid cells and ignores…

Creating maps is an essential task in robotics and provides the basis for effective planning and navigation. In this paper, we learn a compact and continuous implicit surface map of an environment from a stream of range data with known…

This letter describes an incremental multimodal surface mapping methodology, which represents the environment as a continuous probabilistic model. This model enables high-resolution reconstruction while simultaneously compressing spatial…

Whereas dedicated scene representations are required for each different task in conventional robotic systems, this paper demonstrates that a unified representation can be used directly for multiple key tasks. We propose the Log-Gaussian…

Click-based interactive segmentation (IS) aims to extract the target objects under user interaction. For this task, most of the current deep learning (DL)-based methods mainly follow the general pipelines of semantic segmentation. Albeit…

Model-based control faces fundamental challenges in partially-observable environments due to unmodeled obstacles. We propose an online learning and optimization method to identify and avoid unobserved obstacles online. Our method,…

This paper proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type physical interface to obtain intuitive and simplified human…

The efficient rendering and explicit nature of 3DGS promote the advancement of 3D scene manipulation. However, existing methods typically encounter challenges in controlling the manipulation region and are unable to furnish the user with…

We propose Point'n Move, a method that achieves interactive scene object manipulation with exposed region inpainting. Interactivity here further comes from intuitive object selection and real-time editing. To achieve this, we adopt Gaussian…

Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they…

In this study, we address the challenge of constructing continuous three-dimensional (3D) models that accurately represent uncertain surfaces, derived from noisy and incomplete LiDAR scanning data. Building upon our prior work, which…

In this thesis a probabilistic framework is developed and proposed for Dynamic Object Recognition in 3D Environments. A software package is developed using C++ and Python in ROS that performs the detection and tracking task. Furthermore, a…

We introduce ActiveGAMER, an active mapping system that utilizes 3D Gaussian Splatting (3DGS) to achieve high-quality, real-time scene mapping and exploration. Unlike traditional NeRF-based methods, which are computationally demanding and…

This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks. The framework is built on an object SLAM system integrated with a simultaneous multi-object pose estimation…

This paper introduces an active learning framework for manifold Gaussian Process (GP) regression, combining manifold learning with strategic data selection to improve accuracy in high-dimensional spaces. Our method jointly optimizes a…