7 accepted papers
We present a Bayesian object observation model for complete probabilistic semantic SLAM. Recent studies on object detection and feature extraction have become important for scene understanding and 3D mapping. However, 3D shape of the object is too complex to formulate the probabilistic observation m…
In this paper, we propose the reinforcement learning based multi-robot collision avoidance approach by learning collision. Dynamical path re-planning, which is massively used in classical collision avoidance methods, needs overall information of the environment. Also, training agent robots to avoid…
This paper presents a feature encoding method of complex 3D objects for high-level semantic features. Recent approaches to object recognition methods become important for semantic simultaneous localization and mapping (SLAM). However, there is a lack of consideration of the probabilistic observation…
Distribution-to-distribution normal distributions transform (NDT-D2D) is one of the fast point set registrations. Since the normal distributions transform (NDT) is a set of normal distributions generated by discrete and regular cells, local minima of the objective function is an issue of NDT-D2D. Al…
In this paper, we propose a classification method for single views of 3D objects with missing data retrieval. A mobile robot equipped with range sensors basically obtains only single view information of a 3D scene. Therefore, large amount of information is missing by self-occlusion, which leads to s…
This paper presents a probabilistic normal distributions transform (NDT) representation which improves the accuracy of point cloud registration by using the probabilities of point samples. Since conventional NDT does not generate distributions in cells having fewer point samples than the number thre…
In this paper, we introduce an efficient technique that addresses the deployment problem of a team of heterogeneous robots. For multiple scattered tasks in arbitrary space, the objective to be solved is to minimize time for robots to reach all the task locations. In order to reach the assigned task…