相关论文: Voxel Map to Occupancy Map Conversion Using Free S…

The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…

This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…

The enabling of safe cellular controlled unmanned aerial vehicle (UAV) beyond visual line of sight is expected to open important future opportunities in the area of transportation, goods delivery, and system monitoring. A key challenge in…

3D semantic occupancy has rapidly become a research focus in the fields of robotics and autonomous driving environment perception due to its ability to provide more realistic geometric perception and its closer integration with downstream…

Understanding and modeling the 3D scene from a single image is a practical problem. A recent advance proposes a panoptic 3D scene reconstruction task that performs both 3D reconstruction and 3D panoptic segmentation from a single image.…

Open-Vocabulary Mobile Manipulation (OVMM) is a crucial capability for autonomous robots, especially when faced with the challenges posed by unknown and dynamic environments. This task requires robots to explore and build a semantic…

Efficient data collection methods play a major role in helping us better understand the Earth and its ecosystems. In many applications, the usage of unmanned aerial vehicles (UAVs) for monitoring and remote sensing is rapidly gaining…

Occupancy grids are the most common framework when it comes to creating a map of the environment using a robot. This paper studies occupancy grids from the motion planning perspective and proposes a mapping method that provides richer data…

Volumetric maps are widely used in robotics due to their desirable properties in applications such as path planning, exploration, and manipulation. Constant advances in mapping technologies are needed to keep up with the improvements in…

Globally consistent dense maps are a key requirement for long-term robot navigation in complex environments. While previous works have addressed the challenges of dense mapping and global consistency, most require more computational…

Understanding the 3D geometry and semantics of driving scenes is critical for safe autonomous driving. Recent advances in 3D occupancy prediction have improved scene representation but often suffer from visual inconsistencies, leading to…

Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features. While these maps allow for the prediction of point-wise saliency maps when queried for a certain language concept,…

In this paper, we propose a method for generating a hierarchical, volumetric topological map from 3D point clouds. There are three basic hierarchical levels in our map: $storey - region - volume$. The advantages of our method are reflected…

This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…

Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…

Obstacle avoidance is a key feature for safe Unmanned Aerial Vehicle (UAV) navigation. While solutions have been proposed for static obstacle avoidance, systems enabling avoidance of dynamic objects, such as drones, are hard to implement…

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…

This paper proposes a real-time multi-plane segmentation method based on GPU-accelerated high-resolution 3D voxel mapping for legged robot locomotion. Existing online planar mapping approaches struggle to balance accuracy and computational…

Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measurement task's safety, cost, and efficiency, deploying lightweight…

In autonomous driving, 3D occupancy prediction outputs voxel-wise status and semantic labels for more comprehensive understandings of 3D scenes compared with traditional perception tasks, such as 3D object detection and bird's-eye view…