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

The environment of most real-world scenarios such as malls and supermarkets changes at all times. A pre-built map that does not account for these changes becomes out-of-date easily. Therefore, it is necessary to have an up-to-date model of…

Perception of other road users is a crucial task for intelligent vehicles. Perception systems can use on-board sensors only or be in cooperation with other vehicles or with roadside units. In any case, the performance of perception systems…

Image ordinal classification refers to predicting a discrete target value which carries ordering correlation among image categories. The limited size of labeled ordinal data renders modern deep learning approaches easy to overfit. To tackle…

State-of-the-art navigation methods leverage a spatial memory to generalize to new environments, but their occupancy maps are limited to capturing the geometric structures directly observed by the agent. We propose occupancy anticipation,…

The counting task, which plays a fundamental role in numerous applications (e.g., crowd counting, traffic statistics), aims to predict the number of objects with various densities. Existing object counting tasks are designed for a single…

Predicting the evolution of spatiotemporal physical systems from sparse and scattered observational data poses a significant challenge in various scientific domains. Traditional methods rely on dense grid-structured data, limiting their…

We propose a non-intrusive, and privacy-preserving occupancy estimation system for smart environments. The proposed scheme uses thermal images to detect the number of people in a given area. The occupancy estimation model is designed using…

SLAM is a fundamental component of modern autonomous systems, providing robots and their operators with a deeper understanding of their environment. SLAM systems often encounter challenges due to the dynamic nature of robotic motion,…

Grid maps are widely established for the representation of static objects in robotics and automotive applications. Though, incorporating velocity information is still widely examined because of the increased complexity of dynamic grids…

Self-Organizing Maps (SOM) are a classical method for unsupervised learning, vector quantization, and topographic mapping of high-dimensional data. However, existing SOM formulations often involve a trade-off between computational…

In this paper, we consider the transformation of laser range measurements into a top-view grid map representation to approach the task of LiDAR-only semantic segmentation. Since the recent publication of the SemanticKITTI data set,…

Modeling non-stationary data is a challenging problem in the field of continual learning, and data distribution shifts may result in negative consequences on the performance of a machine learning model. Classic learning tools are often…

Creating and maintaining an accurate representation of the environment is an essential capability for every service robot. Especially for household robots acting in indoor environments, semantic information is important. In this paper, we…

Accurately predicting 3D occupancy grids from visual inputs is critical for autonomous driving, but current discriminative methods struggle with noisy data, incomplete observations, and the complex structures inherent in 3D scenes. In this…

The grid firing patterns are thought to provide an efficient intrinsic metric capable of supporting universal spatial metric for mammalian spatial navigation in all environments. However, whether spatial representations of grid cells in the…

Human activity spaces are shaped by individual mobility and the built environment, motivating statistical methods that integrate GPS observations with GIS representations of places and routes. We propose a novel methodology to estimate…

Mobile robot platforms are increasingly being used to automate information gathering tasks such as environmental monitoring. Efficient target tracking in dynamic environments is critical for applications such as search and rescue and…

A key challenge for autonomous driving is safe trajectory planning in cluttered, urban environments with dynamic obstacles, such as pedestrians, bicyclists, and other vehicles. A reliable prediction of the future environment, including the…

Constructing an occupancy representation of the environment is a fundamental problem for robot autonomy. Many accurate and efficient methods exist that address this problem but most assume that the occupancy states of different elements in…

Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…