相关论文: Topological Exploration using Segmented Map with K…
Autonomous robots exploring unknown environments face a significant challenge: navigating effectively without prior maps and with limited external feedback. This challenge intensifies in sparse reward environments, where traditional…
This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…
Low-dimensional visualizations, or "projection maps," are widely used in scientific and creative domains to interpret large-scale and complex datasets. These visualizations not only aid in understanding existing knowledge spaces but also…
Autonomous 3D acquisition of outdoor environments poses special challenges. Different from indoor scenes, where the room space is delineated by clear boundaries and separations (e.g., walls and furniture), an outdoor environment is spacious…
In this paper, we propose SEA, a novel approach for active robot exploration through semantic map prediction and a reinforcement learning-based hierarchical exploration policy. Unlike existing learning-based methods that rely on one-step…
Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…
Autonomous exploration is a crucial aspect of robotics that has numerous applications. Most of the existing methods greedily choose goals that maximize immediate reward. This strategy is computationally efficient but insufficient for…
Exploration and collision-free navigation through an unknown environment is a fundamental task for autonomous robots. In this paper, a novel exploration strategy for Micro Aerial Vehicles (MAVs) is presented. The goal of the exploration…
We address the problem of autonomous exploration and mapping for a mobile robot using visual inputs. Exploration and mapping is a well-known and key problem in robotics, the goal of which is to enable a robot to explore a new environment…
When performing localization and mapping, working at the level of structure can be advantageous in terms of robustness to environmental changes and differences in illumination. This paper presents SegMap: a map representation solution to…
A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the increasing industrial interest in mobile robotics, especially in…
An accurate depth map of the environment is critical to the safe operation of autonomous robots and vehicles. Currently, either light detection and ranging (LIDAR) or stereo matching algorithms are used to acquire such depth information.…
While 2D occupancy maps commonly used in mobile robotics enable safe navigation in indoor environments, in order for robots to understand and interact with their environment and its inhabitants representing 3D geometry and semantic…
Path planning for robotic exploration is challenging, requiring reasoning over unknown spaces and anticipating future observations. Efficient exploration requires selecting budget-constrained paths that maximize information gain. Despite…
Conventional navigation pipelines for legged robots remain largely geometry-centric, relying on dense SLAM representations that are fragile under rapid motion and offer limited support for semantic decision making in open-world exploration.…
With the recent development of high-end LiDARs, more and more systems are able to continuously map the environment while moving and producing spatially redundant information. However, none of the previous approaches were able to effectively…
To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…
We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies…
One key vertical application that will be enabled by 6G is the automation of the processes with the increased use of robots. As a result, sensing and localization of the surrounding environment becomes a crucial factor for these robots to…
Exploration is process of selecting target points that yield the biggest contribution to a specific gain function at an initially unknown environment. Frontier-based exploration is the most common approach to exploration, wherein frontiers…