Alberto Speranzon — accepted AI-conference papers

2024

Indoor and Outdoor 3D Scene Graph Generation Via Language-Enabled Spatial Ontologies

Jared Strader, Nathan Hughes, William Chen, Alberto Speranzon, Luca Carlone

RA-L 2024

This paper proposes an approach to build 3D scene graphs in arbitrary indoor and outdoor environments. Such extension is challenging; the hierarchy of concepts that describe an outdoor environment is more complex than for indoors, and manually defining such hierarchy is time-consuming and does not s

Cited by 46 Source ↗Scholar ↗

2015

Distributed map fusion with sporadic updates for large domains

Peter C. Niedfeldt, Alberto Speranzon, Amit Surana

ICRA 2015poster

Simultaneous localization and mapping (SLAM) algorithms allow a single robot to reduce the effects of drifting sensor biases while exploring unknown, GPS-denied environments. To reduce exploration time, a team of robots can build smaller maps in parallel and perform map fusion. Most map fusion techn…

Cited by 8 Source ↗Scholar ↗