相关论文: Semantic Navigation Using Building Information on …
Several deployment locations of mobile robotic systems are human made (i.e. urban firefighter, building inspection, property security) and the manager may have access to domain-specific knowledge about the place, which can provide semantic…
With growth in the use of autonomous Unmanned Ground Vehicle (UGV) for automated data collection from construction projects, the problem of inter-disciplinary semantic data sharing and exchanges between construction and robotic domains has…
With the increase in the availability of Building Information Models (BIM) and (semi-) automatic tools to generate BIM from point clouds, we propose a world model architecture and algorithms to allow the use of the semantic and geometric…
In this paper, we provide two case studies to demonstrate how artificial intelligence can empower civil engineering. In the first case, a machine learning-assisted framework, BRAILS, is proposed for city-scale building information modeling.…
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…
Traditional robot navigation systems primarily utilize occupancy grid maps and laser-based sensing technologies, as demonstrated by the popular move_base package in ROS. Unlike robots, humans navigate not only through spatial awareness and…
Construction robotics increasingly relies on natural language processing for task execution, creating a need for robust methods to interpret commands in complex, dynamic environments. While existing research primarily focuses on what tasks…
To achieve autonomy in unknown and unstructured environments, we propose a method for semantic-based planning under perceptual uncertainty. This capability is crucial for safe and efficient robot navigation in environment with…
Construction robots have gained significant traction in recent years in research and development. However, the application of industrial robots has unique challenges. Dynamic environments, domain-specific tasks, and complex localization and…
Human navigation in built environments depends on symbolic spatial information which has unrealised potential to enhance robot navigation capabilities. Information sources such as labels, signs, maps, planners, spoken directions, and…
The introduction of assistive construction robots can significantly alleviate physical demands on construction workers while enhancing both the productivity and safety of construction projects. Leveraging a Building Information Model (BIM)…
Due to the fact that the construction industry is one of the high-risk industries, it is inevitable to pay sufficient attention to the safety category in this industry. Currently, due to the development of modern technologies, the…
We discuss the process of building semantic maps, how to interactively label entities in them, and how to use them to enable context-aware navigation behaviors in human environments. We utilize planar surfaces, such as walls and tables, and…
In this paper, we propose an integrated framework for the autonomous robotic exploration in indoor environments. Specially, we present a hybrid map, named Semantic Road Map (SRM), to represent the topological structure of the explored…
Building Information Modeling (BIM) is a recent construction process based on a 3D model, containing every component related to the building achievement. Architects, structure engineers, method engineers, and others participant to the…
Interoperability remains a challenge in the construction industry. In this study, we propose a semantic enrichment approach to construct BIM knowledge graphs from pure building object geometries and demonstrate its potential to support BIM…
Building Information Modeling (BIM) has revolutionized the construction industry by providing a comprehensive digital representation of building structures throughout their lifecycle. However, existing research lacks effective methods for…
Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework…
Building Information Modeling (BIM) is increasingly used in the construction industry, but existing studies often ignore embedded rebars. Ground Penetrating Radar (GPR) provides a potential solution to develop as-built BIM with surface…
For autonomous robots navigating in urban environments, it is important for the robot to stay on the designated path of travel (i.e., the footpath), and avoid areas such as grass and garden beds, for safety and social conformity…