14 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…
Patryk Mazurek, Tomasz Hachaj, Jong-Jae Lee
In this paper, we propose a novel approach that enables simultaneous localization, mapping (SLAM) and objects recognition using visual sensors data in open environments that is capable to work on sparse data point clouds. In the proposed algorithm the ORB-SLAM uses the current and previous monocular visual sensors…
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…
Guoqing Jiang, Saiya Li, Ziyu Huang, Guorong Cai + 2 more
Point clouds are highly regarded in the field of 3D object detection for their superior geometric properties and versatility. However, object occlusion and defects in scanning equipment frequently result in sparse and missing data within point clouds, adversely affecting the final prediction. Recognizing the…
Wen Yang, Xiaolong Qian, Xulin Liu, Jianxing Leng + 1 more
3D Gaussian Splatting (3DGS) SLAM provides an explicit scene representation for dense tracking and mapping, which is useful for underwater robotic perception. However, underwater monocular 3DGS SLAM lacks reliable metric depth cues: monocular depth estimation can provide dense structural priors, but its scale and…
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…
Ignacio Vizzo, Tiziano Guadagnino, Jens Behley, Cyrill Stachniss + 3 more
'Michał R. Nowicki' 'Giorgio Grisetti' 'Marco Camurri'] Mapping is a crucial task in robotics and a fundamental building block of most mobile systems deployed in the real world. Robots use different environment representations depending on their task and sensor setup. This paper showcases a practical approach to…
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.…
Mitko Aleksandrov, Sisi Zlatanova, David J. Heslop, Riccardo Carotenuto
'Riccardo Carotenuto'] Voxel-based data structures, algorithms, frameworks, and interfaces have been used in computer graphics and many other applications for decades. There is a general necessity to seek adequate digital representations, such as voxels, that would secure unified data structures, multi-resolution…
J Gerard Wolff
The SP theory of intelligence aims to simplify and integrate concepts in computing and cognition, with information compression as a unifying theme. This article is about how the SP theory may, with advantage, be applied to the understanding of natural vision and the development of computer vision. Potential benefits…
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…
Thomas Tsao, Doris Y. Tsao
Title: Significance We address a question at the foundation of natural and artificial vision: how can a visual system segment and track objects? In the real world, objects can undergo drastic changes in appearance due to deformation, perspective change, or dynamic occlusion. For example, an animal moving behind a fence…