相关论文: PartSLAM: Unsupervised Part-based Scene Modeling f…

Segment Anything Model (SAM) is an advanced foundational model for image segmentation, which is gradually being applied to remote sensing images (RSIs). Due to the domain gap between RSIs and natural images, traditional methods typically…

Many computer vision systems require low-cost segmentation algorithms based on deep learning, either because of the enormous size of input images or limited computational budget. Common solutions uniformly downsample the input images to…

The speed and accuracy with which robots are able to interpret natural language is fundamental to realizing effective human-robot interaction. A great deal of attention has been paid to developing models and approximate inference algorithms…

Sparse and feature SLAM methods provide robust camera pose estimation. However, they often fail to capture the level of detail required for inspection and scene awareness tasks. Conversely, dense SLAM approaches generate richer scene…

Exploration of unknown environments is a fundamental problem in robotics and an essential component in numerous applications of autonomous systems. A major challenge in exploring unknown environments is that the robot has to plan with the…

We present a fast, scalable, and accurate Simultaneous Localization and Mapping (SLAM) system that represents indoor scenes as a graph of objects. Leveraging the observation that artificial environments are structured and occupied by…

Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…

Traditional approaches to stereo visual SLAM rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it is often difficult to find a sufficient number of reliable…

Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…

Motion planning against sensor data is often a critical bottleneck in real-time robot control. For sampling-based motion planners, which are effective for high-dimensional systems such as manipulators, the most time-intensive component is…

We present a novel Simultaneous Localization and Mapping (SLAM) method that employs Gaussian Process (GP) based landmark (object) representations. Instead of conventional grid maps or point cloud registration, we model the environment on a…

Point matching refers to the process of finding spatial transformation and correspondences between two sets of points. In this paper, we focus on the case that there is only partial overlap between two point sets. Following the approach of…

Robotic tasks such as planning and navigation require a hierarchical semantic understanding of a scene, which could include multiple floors and rooms. Current methods primarily focus on object segmentation for 3D scene understanding.…

Object SLAM introduces the concept of objects into Simultaneous Localization and Mapping (SLAM) and helps understand indoor scenes for mobile robots and object-level interactive applications. The state-of-art object SLAM systems face…

Deep learning based localization and mapping has recently attracted significant attention. Instead of creating hand-designed algorithms through exploitation of physical models or geometric theories, deep learning based solutions provide an…

Mobile robots require basic information to navigate through an environment: they need to know where they are (localization) and they need to know where they are going. For the latter, robots need a map of the environment. Using sensors of a…

Simultaneous Localization and Mapping (SLAM) is pivotal in robotics, with photorealistic scene reconstruction emerging as a key challenge. To address this, we introduce Computational Alignment for Real-Time Gaussian Splatting SLAM (CaRtGS),…

Constructing precise 3D maps is crucial for the development of future map-based systems such as self-driving and navigation. However, generating these maps in complex environments, such as multi-level parking garages or shopping malls,…

This paper proposes a novel approach to few-shot semantic segmentation for machinery with multiple parts that exhibit spatial and hierarchical relationships. Our method integrates the foundation models CLIPSeg and Segment Anything Model…

We present a solution to multi-robot distributed semantic mapping of novel and unfamiliar environments. Most state-of-the-art semantic mapping systems are based on supervised learning algorithms that cannot classify novel observations…