相关论文: PanopticNDT: Efficient and Robust Panoptic Mapping

In this paper, we develop rotation-equivariant neural networks for 4D panoptic segmentation. 4D panoptic segmentation is a benchmark task for autonomous driving that requires recognizing semantic classes and object instances on the road…

Holistic scene understanding poses a fundamental contribution to the autonomous operation of a robotic agent in its environment. Key ingredients include a well-defined representation of the surroundings to capture its spatial structure as…

Learning to navigate in dynamic and complex open-world environments is a critical yet challenging capability for autonomous robots. Existing approaches often rely on cascaded modular frameworks, which require extensive hyperparameter tuning…

This work addresses the problem of active 3D mapping, where an agent must find an efficient trajectory to exhaustively reconstruct a new scene. Previous approaches mainly predict the next best view near the agent's location, which is prone…

The use of autonomous robots for assistance tasks in hospitals has the potential to free up qualified staff and im-prove patient care. However, the ubiquity of deformable and transparent objects in hospital settings poses signif-icant…

Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models to localize robots and build maps simultaneously using…

Monitoring plants and fruits at high resolution play a key role in the future of agriculture. Accurate 3D information can pave the way to a diverse number of robotic applications in agriculture ranging from autonomous harvesting to precise…

Understanding the scene in which an autonomous robot operates is critical for its competent functioning. Such scene comprehension necessitates recognizing instances of traffic participants along with general scene semantics which can be…

In this work, we introduce panoramic panoptic segmentation, as the most holistic scene understanding, both in terms of Field of View (FoV) and image-level understanding for standard camera-based input. A complete surrounding understanding…

Achieving efficient remote teleoperation is particularly challenging in unknown environments, as the teleoperator must rapidly build an understanding of the site's layout. Online 3D mapping is a proven strategy to tackle this challenge, as…

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…

In this work, we introduce panoramic panoptic segmentation as the most holistic scene understanding both in terms of field of view and image level understanding for standard camera based input. A complete surrounding understanding provides…

Image segmentation and depth estimation are crucial tasks in computer vision, especially in autonomous driving scenarios. Although these tasks are typically addressed separately, we propose an innovative approach to combine them in our…

Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…

Accurate 3D scene representation and panoptic understanding are essential for applications such as virtual reality, robotics, and autonomous driving. However, challenges persist with existing methods, including precise 2D-to-3D mapping,…

Panoptic tracking enables pixel-level scene interpretation of videos by integrating instance tracking in panoptic segmentation. This provides robots with a spatio-temporal understanding of the environment, an essential attribute for their…

Autonomous exploration is a new technology in the field of robotics that has found widespread application due to its objective to help robots independently localize, scan maps, and navigate any terrain without human control. Up to present,…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

We propose a simple, fast, and flexible framework to generate simultaneously semantic and instance masks for panoptic segmentation. Our method, called PanoNet, incorporates a clean and natural structure design that tackles the problem…

Being able to understand the relations between the user and the surrounding environment is instrumental to assist users in a worksite. For instance, understanding which objects a user is interacting with from images and video collected…