相关论文: Evidential Semantic Mapping in Off-road Environmen…

Semantic mapping aims to construct a 3D semantic representation of the environment, providing essential knowledge for robots operating in complex outdoor settings. While Bayesian Kernel Inference (BKI) addresses discontinuities of map…

Semantic mapping with Bayesian Kernel Inference (BKI) has shown promise in providing a richer understanding of environments by effectively leveraging local spatial information. However, existing methods face challenges in constructing…

Robotic perception is currently at a cross-roads between modern methods, which operate in an efficient latent space, and classical methods, which are mathematically founded and provide interpretable, trustworthy results. In this paper, we…

In this paper, we develop a modular neural network for real-time {\color{black}(> 10 Hz)} semantic mapping in uncertain environments, which explicitly updates per-voxel probabilistic distributions within a neural network layer. Our approach…

This paper introduces a novel probabilistic mapping algorithm, LatentBKI, which enables open-vocabulary mapping with quantifiable uncertainty. Traditionally, semantic mapping algorithms focus on a fixed set of semantic categories which…

Application for semantic segmentation models in areas such as autonomous vehicles and human computer interaction require real-time predictive capabilities. The challenges of addressing real-time application is amplified by the need to…

Due to the high stakes in medical decision-making, there is a compelling demand for interpretable deep learning methods in medical image analysis. Concept Bottleneck Models (CBM) have emerged as an active interpretable framework…

This paper focuses on online occupancy mapping and real-time collision checking onboard an autonomous robot navigating in a large unknown environment. Commonly used voxel and octree map representations can be easily maintained in a small…

Trustworthy ML systems should not only return accurate predictions, but also a reliable representation of their uncertainty. Bayesian methods are commonly used to quantify both aleatoric and epistemic uncertainty, but alternative…

For scene understanding in unstructured environments, an accurate and uncertainty-aware metric-semantic mapping is required to enable informed action selection by autonomous systems. Existing mapping methods often suffer from overconfident…

To perform high speed tasks, sensors of autonomous cars have to provide as much information in as few time steps as possible. However, radars, one of the sensor modalities autonomous cars heavily rely on, often only provide sparse, noisy…

Accurate reconstruction of environmental scalar fields from sparse onboard observations is essential for autonomous vehicles engaged in aquatic monitoring. Beyond point estimates, principled uncertainty quantification is critical for active…

This paper develops a Bayesian continuous 3D semantic occupancy map from noisy point clouds by generalizing the Bayesian kernel inference model for building occupancy maps, a binary problem, to semantic maps, a multi-class problem. The…

Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…

Terrain elevation modeling for off-road navigation aims to accurately estimate changes in terrain geometry in real-time and quantify the corresponding uncertainties. Having precise estimations and uncertainties plays a crucial role in…

Reliable uncertainty estimation has become a crucial requirement for the industrial deployment of deep learning algorithms, particularly in high-risk applications such as autonomous driving and medical diagnosis. However, mainstream…

This paper addresses semantic planning problems in unknown environments under perceptual uncertainty. The environment contains multiple unknown semantically labeled regions or objects, and the robot must reach desired locations while…

Evidential occupancy grid maps (OGMs) are a popular representation of the environment of automated vehicles. Inverse sensor models (ISMs) are used to compute OGMs from sensor data such as lidar point clouds. Geometric ISMs show a limited…

The equations of motion governing mobile robots are dependent on terrain properties such as the coefficient of friction, and contact model parameters. Estimating these properties is thus essential for robotic navigation. Ideally any map…

Explainable AI (XAI) is crucial for building transparent and trustworthy machine learning systems, especially in high-stakes domains. Concept Bottleneck Models (CBMs) have emerged as a promising ante-hoc approach that provides…