7 accepted papers
Neural scene representations achieve high-fidelity rendering by encoding 3D scenes as continuous functions, but their latent spaces are typically implicit and globally entangled, making localized editing and physically grounded manipulation difficult. While several works introduce explicit control s…
The letter introduces a novel method for planar segments detection and description from a stereo pair of images. The existing systems for planes detection utilize single RGB images and have accuracy- and scale-related problems regarding 3D reconstruction with the obtained planar segments. The propos
In this paper, we consider a problem of foothold selection for the quadrupedal robots equipped with compliant adaptive feet. Starting from a model of the foot we compute the quality of the potential footholds considering also kinematic constraints and collisions during evaluation. Since terrain asse…
In this article, we propose a new keyframe-based mapping system. The proposed method updates local Normal Distribution Transform maps (NDT) using data from an RGB-D sensor. The cells of the NDT are stored in 2D view-dependent structures to better utilize the properties and uncertainty model of RGB-D…
In order to operate autonomously, a robot should explore the environment and build a model of each of the surrounding objects. A common approach is to carefully scan the whole workspace. This is time-consuming. It is also often impossible to reach all the viewpoints required to acquire full knowledg…
In this paper, we propose a method for selecting the optimal footholds for legged systems. The goal of the proposed method is to find the best foothold for the swing leg on a local elevation map. First, we evaluate the geometrical characteristics of each cell on the elevation map, checks kinematic c…
Many recent solutions to the RGB-D SLAM problem use the pose-graph optimization approach, which marginalizes out the actual depth measurements. In this paper we employ the same type of factor graph optimization, but we investigate the gains coming from maintaining a map of RGBD point features and mo