相关论文: ConvBKI: Real-Time Probabilistic Semantic Mapping …

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 introduce ProPanDL, a family of networks capable of uncertainty-aware panoptic segmentation. Unlike existing segmentation methods, ProPanDL is capable of estimating full probability distributions for both the semantic and spatial aspects…

Mobile robots exploring indoor environments increasingly rely on vision-language models to perceive high-level semantic cues in camera images, such as object categories. Such models offer the potential to substantially advance robot…

Recently neural scene representations have provided very impressive results for representing 3D scenes visually, however, their study and progress have mainly been limited to visualization of virtual models in computer graphics or scene…

While deep neural networks have become the go-to approach in computer vision, the vast majority of these models fail to properly capture the uncertainty inherent in their predictions. Estimating this predictive uncertainty can be crucial,…

We present a solution to multi-robot distributed semantic mapping of novel and unfamiliar environments. Most state-of-the-art semantic mapping systems are based on supervised learning algorithms that cannot classify novel observations…

This paper introduces SLIM-VDB, a new lightweight semantic mapping system with probabilistic semantic fusion for closed-set or open-set dictionaries. Advances in data structures from the computer graphics community, such as OpenVDB, have…

Convolutional Neural Networks (CNNs) have recently been applied to cosmological fields -- weak lensing mass maps and galaxy maps. However, cosmological maps differ in several ways from the vast majority of images that CNNs have been tested…

Semantic image segmentation is a fundamental task in image understanding. Per-pixel semantic labelling of an image benefits greatly from the ability to consider region consistency both locally and globally. However, many Fully Convolutional…

In decision-making systems, it is important to have classifiers that have calibrated uncertainties, with an optimisation objective that can be used for automated model selection and training. Gaussian processes (GPs) provide uncertainty…

Despite recent monumental advances in the field, many Natural Language Processing (NLP) models still struggle to perform adequately on noisy domains. We propose a novel probabilistic embedding-level method to improve the robustness of NLP…

State-of-the-art learned reconstruction methods often rely on black-box modules that, despite their strong performance, raise questions about their interpretability and robustness. Here, we build on a recently proposed image reconstruction…

A real-time semantic 3D occupancy mapping framework is proposed in this paper. The mapping framework is based on the Bayesian kernel inference strategy from the literature. Two novel free space representations are proposed to efficiently…

Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…

Traditional SLAM algorithms are typically based on artificial features, which lack high-level information. By introducing semantic information, SLAM can own higher stability and robustness rather than purely hand-crafted features. However,…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

As a pixel-level prediction task, semantic segmentation needs large computational cost with enormous parameters to obtain high performance. Recently, due to the increasing demand for autonomous systems and robots, it is significant to make…

Image semantic segmentation aims at the pixel-level classification of images, which has requirements for both accuracy and speed in practical application. Existing semantic segmentation methods mainly rely on the high-resolution input to…

We propose a novel semantic segmentation algorithm by learning a deconvolution network. We learn the network on top of the convolutional layers adopted from VGG 16-layer net. The deconvolution network is composed of deconvolution and…

This paper addresses a multi-robot planning problem in environments with partially unknown semantics. The environment is assumed to have known geometric structure (e.g., walls) and to be occupied by static labeled landmarks with uncertain…