22 papers · ranked by Valyu relevance
Jiadong Zhang, Wei Wang, Yingbai Hu, Chao Zeng + 2 more
'Alois Christian Knoll' 'Shu Li'] Active mapping is an important technique for mobile robots to autonomously explore and recognize indoor environments. View planning, as the core of active mapping, determines the quality of the map and the efficiency of exploration. However, most current view-planning methods focus on…
Ziwei Liao, Binbin Xu, Steven L. Waslander
Priors Authors: ['Ziwei Liao' 'Binbin Xu' 'Steven L. Waslander'] Abstract: Object-level mapping builds a 3D map of objects in a scene with detailed shapes and poses from multi-view sensor observations. Conventional methods struggle to build complete shapes and estimate accurate poses due to partial occlusions and…
Ziwei Liao, Wei Wang, Xianyu Qi, Xiaoyu Zhang
Indoor service robots need to build an object-centric semantic map to understand and execute human instructions. Conventional visual simultaneous localization and mapping (SLAM) systems build a map using geometric features such as points, lines, and planes as landmarks. However, they lack a semantic understanding of…
Edith Langer, Timothy Patten, Markus Vincze
Detecting changes such as moved, removed, or new objects is the essence for numerous indoor applications in robotics such as tidying-up, patrolling, and fetch/carry tasks. The problem is particularly challenging in open-world scenarios where novel objects may appear at any time. The main idea of this paper is to detect…
Han Xiao, Houxuan Liu, Yunchao Ding, Yang Lu
—Accurate perception of objects in the environment is important for improving the scene understanding capability of SLAM systems. In robotic and augmented reality applications, object maps with semantic and metric information show attractive advantages. In this paper, we present RO-MAP, a novel multiobject mapping…
Lukas Schmid, Jeffrey Delmerico, Johannes L. Schönberger, Juan Nieto + 3 more
'Marc Pollefeys' 'Roland Siegwart' 'César Cadena'] Abstract— For robotic interaction in environments shared with other agents, access to volumetric and semantic maps of the scene is crucial. However, such environments are inevitably subject to long-term changes, which the map needs to account for. We thus propose…
O. Contier, C.I. Baker, M.N. Hebart
Object vision is commonly thought to involve a hierarchy of brain regions processing increasingly complex image features, with high-level visual cortex supporting object recognition and categorization. However, object vision supports diverse behavioral goals, suggesting basic limitations of this category-centric…
You Li, Yassine Ruichek
Occupancy grid map is a popular tool for representing the surrounding environments of mobile robots/intelligent vehicles. Its applications can be dated back to the 1980s, when researchers utilized sonar or LiDAR to illustrate environments by occupancy grids. However, in the literature, research on vision-based…
Gang-Joon Yoon, Hyeong Jae Hwang, Sang Min Yoon
Visual object tracking is a fundamental research area in the field of computer vision and pattern recognition because it can be utilized by various intelligent systems. However, visual object tracking faces various challenging issues because tracking is influenced by illumination change, pose change, partial occlusion…
Zhihe Zhang, Hao Wei, Hongtao Nie
— Simultaneous localization and mapping, as a fundamental task in computer vision, has gained higher demands for performance in recent years due to the rapid development of autonomous driving and unmanned aerial vehicles. Traditional SLAM algorithms highly rely on basic geometry features such as points and lines, which…
Qianqian Wang, Junhao Song, Chenxi Du, Chen Wang + 1 more
Real-world understanding serves as a medium that bridges the information world and the physical world, enabling the realization of virtual-real mapping and interaction. However, scene understanding based solely on 2D images faces problems such as a lack of geometric information and limited robustness against occlusion.…
Benjamin Ries, Irfan Alibay, David W H Swenson, Hannah M Baumann + 3 more
Relative binding free energy (RBFE) calculations have emerged as a powerful tool supporting ligand optimization in drug discovery. Despite many successes, the use of RBFEs can often be limited by automation problems, in particular the setup of such calculations. Atom mapping algorithms are an essential component in…
Krzysztof Zieliński, Dominik Belter
— In this article, we propose a new keyframe-based mapping system. The proposed method updates local Normal Distribution Transform maps (NDT) using data from an RGB-D sensor. The cells of the NDT are stored in 2D view-dependent structures to better utilize the properties and uncertainty model of RGB-D cameras. This…
Nils Dengler, Tobias Zaenker, Francesco Verdoja, Maren Bennewitz
— Creating and maintaining an accurate representation of the environment is an essential capability for every service robot. Especially for household robots acting in indoor environments, semantic information is important. In this paper, we present a semantic mapping framework with modular map representations. Our…
Sanjar Adilov
Machine learning models for molecular-property prediction typically work with molecular representations in the form of fingerprints, descriptors, or graphs. In case of fingerprints and descriptors, molecular representations usually comprise thousands of features, which causes the curse of dimensionality for many…
Senlin Lin, Zhikang Wang, Yan Cui, Qi Zou + 12 more
Spatial transcriptomics (ST) has revolutionized our understanding of tissue architecture, yet constructing comprehensive three-dimensional (3D) cell atlases remains challenging due to technical limitations and high cost. Current approaches typically capture only sparsely sampled two-dimensional sections, leaving…
Merle Stahl, Lena J. Straßer, Chit Tong Lio, Judith Bernett + 2 more
Single-cell RNA sequencing (scRNA-seq) provides comprehensive gene expression data at a single-cell level but lacks spatial context. In contrast, spatial transcriptomics captures both spatial and transcriptional information but is limited by resolution, sensitivity, or feasibility. No single technology combines both…
Masashi Mishima, Hideaki Uchiyama, Diego Thomas, Rin-ichiro Taniguchi + 3 more
'Rin-ichiro Taniguchi' 'Rafael Roberto' 'João Paulo Lima' 'Veronica Teichrieb'] This paper presents a framework of incremental 3D cuboid modeling by using the mapping results of an RGB-D camera based simultaneous localization and mapping (SLAM) system. This framework is useful in accurately creating cuboid CAD models…
Mary Pitman, David Hahn, Gary Tresadern, David Mobley
Drug discovery is accelerated with computational methods such as alchemical simulations to estimate ligand affinities. In particular, relative binding free energy (RBFE) simulations are beneficial for lead optimization. To use RBFE simulations to compare prospective ligands in silico, researchers first plan the…
A. Kidder, G. L. Quek, T. Grootswagers
How is object information organized in high-level visual cortex? Recently, a comprehensive model of object space in macaques was proposed, defined by the orthogonal axes of animacy and aspect ratio (2). However, when using stimuli that dissociated category, animacy, and aspect ratio in humans, no tuning of aspect ratio…
Stephen José Hanson, Leyla Roskan Caglar, Catherine Hanson
We introduce a new method for decoding neural data from fMRI. It is based on two assumptions, first that neural representation is distributed over networks of neurons embeded in voxel noise and second that the stimuli can be decoded as learned relations from sets of categorical stimuli. We illustrate these principles…
Sirio Bolaños-Puchet, Aleksandra Teska, Juan B. Hernando, Huanxiang Lu + 3 more
Digital brain atlases define a hierarchy of brain regions and their locations in three-dimensional Cartesian space. They provide a standard coordinate system in which diverse datasets can be integrated for visualization and analysis. Although this coordinate system has well-defined anatomical axes, it does not provide…