3 accepted papers
Robotic systems performing end-user oriented autonomous exploration can be deployed in different scenarios which not only require mapping but also simultaneous inspection of regions of interest for the end-user. In this work, we propose a novel Next-Best-View (NBV) planner which can perform full exp
Visual scene decomposition into semantic entities is one of the major challenges when creating a reliable object grasping system. Recently, we introduced a bottom-up hierarchical clustering approach [1] which is able to segment objects and parts in a scene. In this paper, we introduce a transform fr…
We present a fast method of detecting loop closure opportunities through the use of similarity measures on histograms extracted from 3-D LIDAR data. We avoid computationally expensive features and compute histograms over simple global statistics of the LIDAR scans. The resulting histograms encode su…