[HTML][HTML] Vdbfusion: Flexible and efficient tsdf integration of range sensor data
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 …
systems deployed in the real world. Robots use different environment representations …
From perception to navigation in environments with persons: An indoor evaluation of the state of the art
Research in the field of social robotics is allowing service robots to operate in environments
with people. In the aim of realizing the vision of humans and robots coexisting in the same …
with people. In the aim of realizing the vision of humans and robots coexisting in the same …
Probabilistic point cloud modeling via self-organizing Gaussian mixture models
This letter presents a continuous probabilistic modeling methodology for spatial point cloud
data using finite Gaussian Mixture Models (GMMs) where the number of components are …
data using finite Gaussian Mixture Models (GMMs) where the number of components are …
Uncertainty-aware visually-attentive navigation using deep neural networks
Autonomous navigation and information gathering in challenging environments are
demanding since the robot's sensors may be susceptible to non-negligible noise, its …
demanding since the robot's sensors may be susceptible to non-negligible noise, its …
GPU-accelerated incremental Euclidean distance transform for online motion planning of mobile robots
In this letter, we present a volumetric mapping system that effectively calculates Occupancy
Grid Maps (OGMs) and Euclidean Distance Transforms (EDTs) with parallel computing …
Grid Maps (OGMs) and Euclidean Distance Transforms (EDTs) with parallel computing …
Finding things in the unknown: Semantic object-centric exploration with an MAV
S Papatheodorou, N Funk… - … on Robotics and …, 2023 - ieeexplore.ieee.org
Exploration of unknown space with an autonomous mobile robot is a well-studied problem.
In this work we broaden the scope of exploration, moving beyond the pure geometric goal of …
In this work we broaden the scope of exploration, moving beyond the pure geometric goal of …
SeMLaPS:: Real-time Semantic Mapping with Latent Prior Networks and Quasi-Planar Segmentation
The availability of real-time semantics greatly improves the core geometric functionality of
SLAM systems, enabling numerous robotic and AR/VR applications. We present a new …
SLAM systems, enabling numerous robotic and AR/VR applications. We present a new …
ROG-map: An efficient robocentric occupancy grid map for large-scene and high-resolution LiDAR-based motion planning
Recent advances in LiDAR technology have opened up new possibilities for robotic
navigation. Given the widespread use of occupancy grid maps (OGMs) in robotic motion …
navigation. Given the widespread use of occupancy grid maps (OGMs) in robotic motion …
Orientation-aware hierarchical, adaptive-resolution A* algorithm for UAV trajectory planning
N Funk, J Tarrio, S Papatheodorou… - IEEE Robotics and …, 2023 - ieeexplore.ieee.org
Successful path planning for Unmanned Aerial Vehicles (UAVs) in challenging
environments with narrow openings, such as disaster areas, requires attitude to be …
environments with narrow openings, such as disaster areas, requires attitude to be …
Elastic and efficient LiDAR reconstruction for large-scale exploration tasks
Y Wang, N Funk, M Ramezani… - … on Robotics and …, 2021 - ieeexplore.ieee.org
We present an efficient, elastic 3D LiDAR reconstruction framework which can reconstruct
up to maximum Li-DAR ranges (60 m) at multiple frames per second, thus enabling robot …
up to maximum Li-DAR ranges (60 m) at multiple frames per second, thus enabling robot …