In this work, a framework is proposed to build topological models in mobile robotics, using
an omnidirectional vision sensor as the only source of information. The model is structured …

Feature matching is a key technique for a wide variety of computer vision and image
processing applications such as visual localization. It permits finding correspondences of …

We consider the problem of Embodied Question Answering (EQA), which refers to settings
where an embodied agent such as a robot needs to actively explore an environment to …

If we have been there before, we realize that viewing a single photograph is sufficient to
understand where the picture was captured. This fact highlights the impact of appearance …

The traditional environment maps built by mobile robots include both metric ones and
topological ones. These maps are navigation-oriented and not adequate for service robots …

Specifying and solving Constraint-based Optimization Problems (COP) has become a
mainstream technology for advanced motion control of mobile robots. COP programming still …

This paper addresses the problem of autonomous robotic inspection in complex and
unknown environments. This capability is crucial for efficient and precise inspections in …

How can a robot navigate successfully in rich and diverse environments, indoors or
outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase …

To achieve autonomy in unknown and unstruc-tured environments, we propose a method for
semantic-based planning under perceptual uncertainty. This capability is cru-cial for safe …

Current reconstruction systems often face the challenge of drifting when reconstructing
complex scenes. Recent 3D (three-dimensional) reconstruction systems have shown …