Kimera-multi: a system for distributed multi-robot metric-semantic simultaneous localization and mapping
We present the first fully distributed multi-robot system for dense metric-semantic
Simultaneous Localization and Mapping (SLAM). Our system, dubbed Kimera-Multi, is …
Simultaneous Localization and Mapping (SLAM). Our system, dubbed Kimera-Multi, is …
Object-aware dense semantic correspondence
This work aims to build pixel-to-pixel correspondences between images from the same
visual class but with different geometries and visual similarities. This task is particularly …
visual class but with different geometries and visual similarities. This task is particularly …
Bev-locator: An end-to-end visual semantic localization network using multi-view images
Accurate localization ability is fundamental in autonomous driving. Traditional visual
localization frameworks approach the semantic map-matching problem with geometric …
localization frameworks approach the semantic map-matching problem with geometric …
Adapting semantic segmentation models for changes in illumination and camera perspective
Semantic segmentation using deep neural networks has been widely explored to generate
high-level contextual information for autonomous vehicles. To acquire a complete 180° …
high-level contextual information for autonomous vehicles. To acquire a complete 180° …
Hdmapnet: An online hd map construction and evaluation framework
Constructing HD semantic maps is a central component of autonomous driving. However,
traditional pipelines require a vast amount of human efforts and resources in annotating and …
traditional pipelines require a vast amount of human efforts and resources in annotating and …
Semi-supervised semantic mapping through label propagation with semantic texture meshes
Scene understanding is an important capability for robots acting in unstructured
environments. While most SLAM approaches provide a geometrical representation of the …
environments. While most SLAM approaches provide a geometrical representation of the …
Hierarchical semantic mapping using convolutional neural networks for intelligent service robotics
RC Luo, M Chiou - IEEE Access, 2018 - ieeexplore.ieee.org
The introduction of service robots in the public domain has introduced a paradigm shift in
how robots are interacting with people, where robots must learn to autonomously interact …
how robots are interacting with people, where robots must learn to autonomously interact …
Panopticfusion: Online volumetric semantic mapping at the level of stuff and things
G Narita, T Seno, T Ishikawa… - 2019 IEEE/RSJ …, 2019 - ieeexplore.ieee.org
We propose PanopticFusion, a novel online volumetric semantic mapping system at the
level of stuff and things. In contrast to previous semantic mapping systems, PanopticFusion …
level of stuff and things. In contrast to previous semantic mapping systems, PanopticFusion …
Spherical multi-modal place recognition for heterogeneous sensor systems
In this paper, we propose a robust end-to-end multi-modal pipeline for place recognition
where the sensor systems can differ from the map building to the query. Our approach …
where the sensor systems can differ from the map building to the query. Our approach …
Volumetric instance-aware semantic mapping and 3D object discovery
To autonomously navigate and plan interactions in real-world environments, robots require
the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides …
the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides …