相关论文: Object-Oriented Grid Mapping in Dynamic Environmen…

In the context of autonomous robots, one of the most important tasks is to prevent potential damage to the robot during navigation. For this purpose, it is often assumed that one must deal with known probabilistic obstacles, then compute…

We consider the problem of classifying a map using a team of communicating robots. It is assumed that all robots have localized visual sensing capabilities and can exchange their information with neighboring robots. Using a graph…

Camera placement is crutial in multi-camera systems such as virtual reality, autonomous driving, and high-quality reconstruction. The camera placement challenge lies in the nonlinear nature of high-dimensional parameters and the…

The safe deployment of autonomous vehicles relies on their ability to effectively react to environmental changes. This can require maneuvering on varying surfaces which is still a difficult problem, especially for slippery terrains. To…

Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…

Semantic occupancy has emerged as a powerful representation in world models for its ability to capture rich spatial semantics. However, most existing occupancy world models rely on static and fixed embeddings or grids, which inherently…

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…

Under a smart grid paradigm, there has been an increase in sensor installations to enhance situational awareness. The measurements from these sensors can be leveraged for real-time monitoring, control, and protection. However, these…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

In this paper, we aim to forecast a future trajectory distribution of a moving agent in the real world, given the social scene images and historical trajectories. Yet, it is a challenging task because the ground-truth distribution is…

This paper proposes a new reactive temporal logic planning algorithm for multiple robots that operate in environments with unknown geometry modeled using occupancy grid maps. The robots are equipped with individual sensors that allow them…

In this article, we propose a new keyframe-based mapping system. The proposed method updates local Normal Distribution Transform maps (NDT) using data from an RGB-D sensor. The cells of the NDT are stored in 2D view-dependent structures to…

Accurate prediction of driving scenes is essential for road safety and autonomous driving. Occupancy Grid Maps (OGMs) are commonly employed for scene prediction due to their structured spatial representation, flexibility across sensor…

Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…

Localization in a pre-built map is a basic technique for robot autonomous navigation. Existing mapping and localization methods commonly work well in small-scale environments. As a map grows larger, however, more memory is required and…

Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…

Predicting how the world can evolve in the future is crucial for motion planning in autonomous systems. Classical methods are limited because they rely on costly human annotations in the form of semantic class labels, bounding boxes, and…

We present a modular robotic system for autonomous exploration and semantic updating of large-scale unknown environments. Our approach enables a mobile robot to build, revisit, and update a hybrid semantic map that integrates a 2D occupancy…

Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…

In image-based camera localization systems, information about the environment is usually stored in some representation, which can be referred to as a map. Conventionally, most maps are built upon hand-crafted features. Recently, neural…