相关论文: Robust Structure Identification and Room Segmentat…

A detailed environment perception is a crucial component of automated vehicles. However, to deal with the amount of perceived information, we also require segmentation strategies. Based on a grid map environment representation, well-suited…

Most mobile robots for indoor use rely on 2D laser scanners for localization, mapping and navigation. These sensors, however, cannot detect transparent surfaces or measure the full occupancy of complex objects such as tables. Deep Neural…

Occupancy grids are the most common framework when it comes to creating a map of the environment using a robot. This paper studies occupancy grids from the motion planning perspective and proposes a mapping method that provides richer data…

In critical applications, including search-and-rescue in degraded environments, blockages can be prevalent and prevent the effective deployment of certain sensing modalities, particularly vision, due to occlusion and the constrained range…

Grid maps, especially occupancy grid maps, are ubiquitous in many mobile robot applications. To simplify the process of learning the map, grid maps subdivide the world into a grid of cells whose occupancies are independently estimated using…

In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…

Humans can naturally identify and mentally complete occluded objects in cluttered environments. However, imparting similar cognitive ability to robotics remains challenging even with advanced reconstruction techniques, which models scenes…

Popular navigation stacks implemented on top of open-source frameworks such as ROS(Robot Operating System) and ROS2 represent the robot workspace using a discretized 2D occupancy grid. This method, while requiring less computation,…

This paper presents the perception system of a new professional cleaning robot for large public places. The proposed system is based on multiple sensors including 3D and 2D lidar, two RGB-D cameras and a stereo camera. The two lidars…

In this paper we provide an overview of a new framework for robot perception, real-world modelling, and navigation that uses a stochastic tesselated representation of spatial information called the Occupancy Grid. The Occupancy Grid is a…

Object search -- the problem of finding a target object in a cluttered scene -- is essential to solve for many robotics applications in warehouse and household environments. However, cluttered environments entail that objects often occlude…

Doors are important landmarks for indoor mobile robot navigation and also assist blind people to independently access unfamiliar buildings. Most existing algorithms of door detection are limited to work for familiar environments because of…

Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environments still face great challenges. Many modern indoor…

For robots that have the capability to interact with the physical environment through their end effectors, understanding the surrounding scenes is not merely a task of image classification or object recognition. To perform actual tasks, it…

RGB-D cameras supply rich and dense visual and spatial information for various robotics tasks such as scene understanding, map reconstruction, and localization. Integrating depth and visual information can aid robots in localization and…

In order to successfully perform manipulation tasks in new environments, such as grasping, robots must be proficient in segmenting unseen objects from the background and/or other objects. Previous works perform unseen object instance…

Sustainable urban design or planning is not a LEGO-like assembly of prefabricated elements, but an embryo-like growth with persistent differentiation and adaptation towards a coherent whole. The coherent whole has a striking character -…

The rapid growth of vacation rental (VR) platforms has led to an increasing volume of property images, often uploaded without structured categorization. This lack of organization poses significant challenges for travelers attempting to…

Picking unseen objects from clutter is a difficult problem because of the variability in objects (shape, size, and material) and occlusion due to clutter. As a result, it becomes difficult for grasping methods to segment the objects…

Efficient waste management and recycling heavily rely on garbage exploration and identification. In this study, we propose GSA2Seg (Garbage Segmentation and Attribute Analysis), a novel visual approach that utilizes quadruped robotic dogs…