相关论文: FHT-Map: Feature-based Hierarchical Topological Ma…

We propose a novel visual localization and navigation framework for real-world environments directly integrating observed visual information into the bird-eye-view map. While the renderable neural radiance map (RNR-Map) shows considerable…

Hyperspectral cameras can provide unique spectral signatures for consistently distinguishing materials that can be used to solve surveillance tasks. In this paper, we propose a novel real-time hyperspectral likelihood maps-aided tracking…

Routing problems such as Hamiltonian Path Problem (HPP), seeks a path to visit all the vertices in a graph while minimizing the path cost. This paper studies a variant, HPP with Probabilistic Terminals (HPP-PT), where each vertex has a…

Constructing HD semantic maps is a central component of autonomous driving. However, traditional pipelines require a vast amount of human efforts and resources in annotating and maintaining the semantics in the map, which limits its…

For high-level geo-spatial applications and intelligent robotics, accurate global pose information is of crucial importance. Map-aided localization is a universal approach to overcome the limitations of global navigation satellite system…

Topological data analysis is a powerful tool for describing topological signatures in real world data. An important challenge in topological data analysis is matching significant topological signals across distinct systems. In geometry and…

Soft robotics has emerged as the standard solution for grasping deformable objects, and has proven invaluable for mobile robotic exploration in extreme environments. However, despite this growth, there are no widely adopted computational…

Topology reasoning is crucial for autonomous driving as it enables comprehensive understanding of connectivity and relationships between lanes and traffic elements. While recent approaches have shown success in perceiving driving topology…

Robots often need to solve path planning problems where essential and discrete aspects of the environment are partially observable. This introduces a multi-modality, where the robot must be able to observe and infer the state of its…

Motion planning algorithms often leverage topological information about the environment to improve planner performance. However, these methods often focus only on the environment's connectivity while ignoring other properties such as…

The integration of GNSS data into portable devices has led to the generation of vast amounts of trajectory data, which is crucial for applications such as map-matching. To tackle the limitations of rule-based methods, recent works in deep…

Accurate segmentation of long and thin tubular structures is required in a wide variety of areas such as biology, medicine, and remote sensing. The complex topology and geometry of such structures often pose significant technical…

This paper proposes the Real-Time Fast Marching Tree (RT-FMT), a real-time planning algorithm that features local and global path generation, multiple-query planning, and dynamic obstacle avoidance. During the search, RT-FMT quickly looks…

Currently, state-of-the-art exploration methods maintain high-resolution map representations in order to optimize exploration goals in each step that maximizes information gain. However, during exploring, those "optimal" selections could…

This paper explores a rapid, optimal smooth path-planning algorithm for robots (e.g., autonomous vehicles) in point cloud environments. Derivative maps such as dense point clouds, mesh maps, Octomaps, etc. are frequently used for path…

Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…

Human navigation is facilitated through the association of actions with landmarks, tapping into our ability to recognize salient features in our environment. Consequently, navigational instructions for humans can be extremely concise, such…

Routing is a widespread approach to transfer information from a source node to a destination node in many deployed wireless ad-hoc networks. Today's implemented routing algorithms seek to efficiently find the path/route with the largest…

Topological maps are more suitable than metric maps for robotic exploration tasks. However, real-time updating of accurate and detail-rich environmental topological maps remains a challenge. This paper presents a topological map updating…

In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…