相关论文: SymboSLAM: Semantic Map Generation in a Multi-Agen…

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…

Simultaneous localization and mapping (SLAM) provides user tracking and environmental mapping capabilities, enabling communication systems to gain situational awareness. Advanced communication networks with ultra-wideband, multiple…

Object SLAM uses additional semantic information to detect and map objects in the scene, in order to improve the system's perception and map representation capabilities. Quadrics and cubes are often used to represent objects, but their…

In this paper, we address the task of semantic-guided image generation. One challenge common to most existing image-level generation methods is the difficulty in generating small objects and detailed local textures. To address this, in this…

Environment perception is a crucial ability for robot's interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is…

Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain…

Deep supervised models have an unprecedented capacity to absorb large quantities of training data. Hence, training on many datasets becomes a method of choice towards graceful degradation in unusual scenes. Unfortunately, different datasets…

Mobile robots in large-scale indoor environments, such as hospitals and logistics centers, require accurate 3D spatial representations. However, 3D maps consume substantial memory, making it difficult to maintain complete map data within…

When interacting in unstructured human environments, occasional robot failures are inevitable. When such failures occur, everyday people, rather than trained technicians, will be the first to respond. Existing natural language explanations…

The need for large amounts of training and validation data is a huge concern in scaling AI algorithms for autonomous driving. Semantic Image Synthesis (SIS), or label-to-image translation, promises to address this issue by translating…

The environment of most real-world scenarios such as malls and supermarkets changes at all times. A pre-built map that does not account for these changes becomes out-of-date easily. Therefore, it is necessary to have an up-to-date model of…

Autonomous navigation in unstructured off-road environments is greatly improved by semantic scene understanding. Conventional image processing algorithms are difficult to implement and lack robustness due to a lack of structure and high…

Symbolic regression is a powerful system identification technique in industrial scenarios where no prior knowledge on model structure is available. Such scenarios often require specific model properties such as interpretability, robustness,…

Recent advances in vision-language models have made zero-shot navigation feasible, enabling robots to follow natural language instructions without requiring labeling. However, existing methods that explicitly store language vectors in grid…

Classical visual simultaneous localization and mapping (SLAM) algorithms usually assume the environment to be rigid. This assumption limits the applicability of those algorithms as they are unable to accurately estimate the camera poses and…

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…

Simultaneous localisation and mapping (SLAM) algorithms are commonly used in robotic systems for learning maps of novel environments. Brains also appear to learn maps, but the mechanisms are not known and it is unclear how to infer these…

Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…

Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…

A main issue preventing the use of Convolutional Neural Networks (CNN) in end user applications is the low level of transparency in the decision process. Previous work on CNN interpretability has mostly focused either on localizing the…