相关论文: Seamless Indoor-Outdoor Mapping for INGENIOUS Firs…

Indoor mapping data is crucial for routing, navigation, and building management, yet such data are widely lacking due to the manual labor and expense of data collection, especially for larger indoor spaces. Leveraging recent advancements in…

One of the most important features of mobile rescue robots is the ability to autonomously detect casualties, i.e. human bodies, which are usually lying on the ground. This paper proposes a novel method for autonomously detecting casualties…

Miniaturization of cameras and LiDAR sensors has enabled the development of wearable 3D mapping systems for emergency responders. These systems have the potential to revolutionize response capabilities by providing real-time, high-fidelity…

One key vertical application that will be enabled by 6G is the automation of the processes with the increased use of robots. As a result, sensing and localization of the surrounding environment becomes a crucial factor for these robots to…

This work investigates the integration of spatially aligned aerial imagery into perception tasks for automated vehicles (AVs). As a central contribution, we present AID4AD, a publicly available dataset that augments the nuScenes dataset…

Centimeter level globally accurate and consistent maps for autonomous vehicles navigation has long been achieved by on board real-time kinematic(RTK)-GPS in open areas. However when dealing with urban environments, GPS will experience…

Object-based maps are relevant for scene understanding since they integrate geometric and semantic information of the environment, allowing autonomous robots to robustly localize and interact with on objects. In this paper, we address the…

Large-scale semantic mapping is crucial for outdoor autonomous agents to fulfill high-level tasks such as planning and navigation. This paper proposes a novel method for large-scale 3D semantic reconstruction through implicit…

This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach…

This paper proposes a novel approach to map-based navigation system for unmanned aircraft. The proposed system attempts label-to-label matching, not image-to-image matching, between aerial images and a map database. The ground objects can…

Global navigation satellite systems readily provide accurate position information when localizing a robot outdoors. However, an analogous standard solution does not exist yet for mobile robots operating indoors. This paper presents an…

We present a powerful method to extract per-point semantic class labels from aerialphotogrammetry data. Labeling this kind of data is important for tasks such as environmental modelling, object classification and scene understanding. Unlike…

In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…

The formwork system belonging to the temporary structure plays an important role in the smooth progress and successful completion of a construction project. Ensuring that the formwork system is installed as designed is essential for…

We investigate a variation of the 3D registration problem, named multi-model 3D registration. In the multi-model registration problem, we are given two point clouds picturing a set of objects at different poses (and possibly including…

The objective of this work is to develop a data processing system that can automatically generate waypoints for navigation of an unmanned aerial vehicle (UAV) to inspect surfaces of structures like buildings and bridges. The input includes…

In a future with autonomous robots, visual and spatial perception is of utmost importance for robotic systems. Particularly for aerial robotics, there are many applications where utilizing visual perception is necessary for any real-world…

Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight…

In the field of large-scale SLAM for autonomous driving and mobile robotics, 3D point cloud based place recognition has aroused significant research interest due to its robustness to changing environments with drastic daytime and weather…

Digital maps will revolutionize our experience of perceiving and navigating indoor environments. While today we rely only on the representation of the outdoors, the mapping of indoors is mainly a part of the traditional SLAM problem where…