相关论文: OV-MAP : Open-Vocabulary Zero-Shot 3D Instance Seg…

Object SLAM introduces the concept of objects into Simultaneous Localization and Mapping (SLAM) and helps understand indoor scenes for mobile robots and object-level interactive applications. The state-of-art object SLAM systems face…

This paper presents a novel approach for local 3D environment representation for autonomous unmanned ground vehicle (UGV) navigation called On Visible Point Clouds Mesh(OVPC Mesh). Our approach represents the surrounding of the robot as a…

As a consequence of an ever-increasing number of service robots, there is a growing demand for highly accurate real-time 3D object recognition. Considering the expansion of robot applications in more complex and dynamic environments,it is…

Open-vocabulary 3D instance segmentation is cutting-edge for its ability to segment 3D instances without predefined categories. However, progress in 3D lags behind its 2D counterpart due to limited annotated 3D data. To address this, recent…

Simultaneous localization and mapping, especially the one relying solely on video data (vSLAM), is a challenging problem that has been extensively studied in robotics and computer vision. State-of-the-art vSLAM algorithms are capable of…

Advances in open-vocabulary semantic mapping and object navigation have enabled robots to perform an informed search of their environment for an arbitrary object. However, such zero-shot object navigation is typically designed for simple…

3D multi-object tracking plays a critical role in autonomous driving by enabling the real-time monitoring and prediction of multiple objects' movements. Traditional 3D tracking systems are typically constrained by predefined object…

Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…

SLAM is a fundamental component of modern autonomous systems, providing robots and their operators with a deeper understanding of their environment. SLAM systems often encounter challenges due to the dynamic nature of robotic motion,…

Open-vocabulary 3D segmentation enables exploration of 3D spaces using free-form text descriptions. Existing methods for open-vocabulary 3D instance segmentation primarily focus on identifying object-level instances but struggle with…

This paper presents a novel 3D mapping robot with an omnidirectional field-of-view (FoV) sensor suite composed of a non-repetitive LiDAR and an omnidirectional camera. Thanks to the non-repetitive scanning nature of the LiDAR, an automatic…

Although instance segmentation has made considerable advancement over recent years, it's still a challenge to design high accuracy algorithms with real-time performance. In this paper, we propose a real-time instance segmentation framework…

Identifying moving objects is a crucial capability for autonomous navigation, consistent map generation, and future trajectory prediction of objects. In this paper, we propose a novel network that addresses the challenge of segmenting…

Vision-language navigation (VLN) has emerged as a promising paradigm, enabling mobile robots to perform zero-shot inference and execute tasks without specific pre-programming. However, current systems often separate map exploration and path…

In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned…

This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots'…

Open-Vocabulary Object Detection (OVD) faces severe performance degradation when applied to UAV imagery due to the domain gap from ground-level datasets. To address this challenge, we propose a complete UAV-oriented solution that combines…

Environment representations endowed with sophisticated semantics are pivotal for facilitating seamless interaction between robots and humans, enabling them to effectively carry out various tasks. Open-vocabulary maps, powered by…

This paper proposes an efficient and probabilistic adaptive voxel mapping method for LiDAR odometry. The map is a collection of voxels; each contains one plane (or edge) feature that enables the probabilistic representation of the…

Active object reconstruction using autonomous robots is gaining great interest. A primary goal in this task is to maximize the information of the object to be reconstructed, given limited on-board resources. Previous view planning methods…