相关论文: Learning Spatiotemporal Occupancy Grid Maps for Li…

Representations are crucial for a robot to learn effective navigation policies. Recent work has shown that mid-level perceptual abstractions, such as depth estimates or 2D semantic segmentation, lead to more effective policies when provided…

Determining the occupancy status of locations in the environment is a fundamental task for safety-critical robotic applications. Traditional occupancy grid mapping methods subdivide the environment into a grid of voxels, each associated…

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…

3D scene graphs have recently emerged as a powerful high-level representation of 3D environments. A 3D scene graph describes the environment as a layered graph where nodes represent spatial concepts at multiple levels of abstraction and…

Lifelong indoor localization in a given map is the basis for navigation of autonomous mobile robots. In this letter, we address the problem of robust localization in cluttered indoor environments like office spaces and corridors using 3D…

Accurate traffic prediction is a challenging task in intelligent transportation systems because of the complex spatio-temporal dependencies in transportation networks. Many existing works utilize sophisticated temporal modeling approaches…

Accurate prediction of driving scene is a challenging task due to uncertainty in sensor data, the complex behaviors of agents, and the possibility of multiple feasible futures. Existing prediction methods using occupancy grid maps primarily…

Accurately perceiving dynamic environments is a fundamental task for autonomous driving and robotic systems. Existing methods inadequately utilize temporal information, relying mainly on local temporal interactions between adjacent frames…

We present a novel mapping framework for robot navigation which features a multi-level querying system capable to obtain rapidly representations as diverse as a 3D voxel grid, a 2.5D height map and a 2D occupancy grid. These are inherently…

Many real world networks are very large and constantly change over time. These dynamic networks exist in various domains such as social networks, traffic networks and biological interactions. To handle large dynamic networks in downstream…

Graph neural networks have emerged as a powerful tool for learning spatiotemporal interactions. However, conventional approaches often rely on predefined graphs, which may obscure the precise relationships being modeled. Additionally,…

How can we build general-purpose robot systems for open-world semantic navigation, e.g., searching a novel environment for a target object specified in natural language? To tackle this challenge, we introduce OSG Navigator, a modular system…

Robotic perception requires the modeling of both 3D geometry and semantics. Existing methods typically focus on estimating 3D bounding boxes, neglecting finer geometric details and struggling to handle general, out-of-vocabulary objects. 3D…

Spatio-temporal prediction plays an important role in many application areas especially in traffic domain. However, due to complicated spatio-temporal dependency and high non-linear dynamics in road networks, traffic prediction task is…

Vision-and-language navigation (VLN) enables the agent to navigate to a remote location following the natural language instruction in 3D environments. To represent the previously visited environment, most approaches for VLN implement memory…

Recent advances in vision-language models have made zero-shot navigation feasible, enabling robots to follow natural language instructions without requiring labeling. However, existing methods that explicitly store language vectors in grid…

A key challenge in fast ground robot navigation in 3D terrain is balancing robot speed and safety. Recent work has shown that 2.5D maps (2D representations with additional 3D information) are ideal for real-time safe and fast planning.…

This paper implements Simultaneous Localization and Mapping (SLAM) technique to construct a map of a given environment. A Real Time Appearance Based Mapping (RTAB-Map) approach was taken for accomplishing this task. Initially, a 2d…

Collision-free, goal-directed navigation in environments containing unknown static and dynamic obstacles is still a great challenge, especially when manual tuning of navigation policies or costly motion prediction needs to be avoided. In…

Image-goal navigation is a challenging task that requires an agent to navigate to a goal indicated by an image in unfamiliar environments. Existing methods utilizing diverse scene memories suffer from inefficient exploration since they use…