7 accepted papers
Panoramic RGB-D cameras enable high-quality 3D scene reconstruction but require manual viewpoint selection and physical camera transportation, making the process time-consuming and tedious—especially for novice users. Key challenges include ensuring sufficient feature overlap between camera views an
We present an efficient and scalable learning-based autonomous exploration system for mobile robots navi-gating unknown indoor environments. Our system incorporates three network models trained to identify the frontier region (FR), to evaluate the detected FR regions based on their proximity to the…
A 3D occupancy map that is accurately modeled after real-world environments is essential for reliably performing robotic tasks. Probabilistic volumetric mapping (PVM) is a well-known environment mapping method using volumetric voxel grids that represent the probability of occupancy. The main bottlen
We propose a fully autonomous system for mobile robot exploration in unknown environments. Our system employs a novel frontier detection algorithm based on the fast front propagation (FFP) technique and uses parallel path planning to reach the detected front regions. Given an occupancy grid map in 2…
Probabilistic volumetric mapping (PVM) represents a 3D environmental map for an autonomous robotic navigational task. A popular implementation such as Octomap is widely used in the robotics community for such a purpose. The Octomap relies on an octree to represent a PVM and its main bottleneck lies…
We propose a novel RGB-D camera tracking system that robustly reconstructs hand-held RGB-D camera sequences. The robustness of our system is achieved by two independent features of our method: adaptive visual odometry (VO) and integer programming-based key-frame selection. Our VO method adaptively i
We propose a novel RGB-D camera tracking system that robustly reconstructs hand-held RGB-D camera sequences. The robustness of our system is achieved by two independent features of our method: adaptive visual odometry (VO) and integer programming-based key-frame selection. Our VO method adaptively i…