相关论文: Learning High-level Semantic-Relational Concepts f…

This article introduces a novel method for object-level relocalization of robotic systems. It determines the pose of a camera sensor by robustly associating the object detections in the current frame with 3D objects in a lightweight…

Coordinating multi-robot systems (MRS) to search in unknown environments is particularly challenging for tasks that require semantic reasoning beyond geometric exploration. Classical coordination strategies rely on frontier coverage or…

Object SLAM is considered increasingly significant for robot high-level perception and decision-making. Existing studies fall short in terms of data association, object representation, and semantic mapping and frequently rely on additional…

Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of the art…

Generative AI, particularly Large Language Models, increasingly integrates graph-based representations to enhance reasoning, retrieval, and structured decision-making. Despite rapid advances, there remains limited clarity regarding when,…

Landmarks have long played a pivotal role in automated planning, serving as crucial elements for improving the planning algorithms. The main limitation of classical landmark extraction methods is their sensitivity to specific planning…

Dense indoor scene modeling from 2D images has been bottlenecked due to the absence of depth information and cluttered occlusions. We present an automatic indoor scene modeling approach using deep features from neural networks. Given a…

Graph-SLAM is a well-established algorithm for constructing a topological map of the environment while simultaneously attempting the localisation of the robot. It relies on scan matching algorithms to align noisy observations along robot's…

This paper addresses the problems of missing reasoning chains and insufficient entity-level semantic understanding in large language models when dealing with tasks that require structured knowledge. It proposes a fine-tuning algorithm…

Word embedding is designed to represent the semantic meaning of a word with low dimensional vectors. The state-of-the-art methods of learning word embeddings (word2vec and GloVe) only use the word co-occurrence information. The learned…

This paper proposes a pose-graph attentional graph neural network, called P-GAT, which compares (key)nodes between sequential and non-sequential sub-graphs for place recognition tasks as opposed to a common frame-to-frame retrieval problem…

Object detection, scene graph generation and region captioning, which are three scene understanding tasks at different semantic levels, are tied together: scene graphs are generated on top of objects detected in an image with their pairwise…

Simultaneous Localization and Mapping (SLAM) is one of the most essential techniques in many real-world robotic applications. The assumption of static environments is common in most SLAM algorithms, which however, is not the case for most…

Frame semantic parsing is a semantic analysis task based on FrameNet which has received great attention recently. The task usually involves three subtasks sequentially: (1) target identification, (2) frame classification and (3) semantic…

We introduce a high-fidelity neural implicit dense visual Simultaneous Localization and Mapping (SLAM) system, termed DF-SLAM. In our work, we employ dictionary factors for scene representation, encoding the geometry and appearance…

Scene graphs have emerged as a structured and serializable environment representation for grounded spatial reasoning with Large Language Models (LLMs). In this work, we propose SG^2, an iterative Schema-Guided Scene-Graph reasoning…

Semantic role labeling is primarily used to identify predicates, arguments, and their semantic relationships. Due to the limitations of modeling methods and the conditions of pre-identified predicates, previous work has focused on the…

Highly automated driving functions currently often rely on a-priori knowledge from maps for planning and prediction in complex scenarios like cities. This makes map-relative localization an essential skill. In this paper, we address the…

Several SLAM methods benefit from the use of semantic information. Most integrate photometric methods with high-level semantics such as object detection and semantic segmentation. We propose that adding a semantic segmentation decoder in a…

Scene graph generation (SGG) aims to automatically map an image into a semantic structural graph for better scene understanding. It has attracted significant attention for its ability to provide object and relation information, enabling…