11 accepted papers
Reliable incremental estimation of camera poses and 3D reconstruction is key to enable various applications including robotics, interactive visualization, and augmented reality. However, online SLAM is particularly challenging in dynamic natural environments, where scene dynamics can severely deteri
Abstract— Understanding the surrounding scene geometrically and semantically is a key requirement for autonomously navigating systems. Vision-based 3D panoptic occupancy prediction aims to provide a 3D representation of the surroundingsincluding semantic meaning and identifying individual objectssuc…
Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene using an RGB-D camera on a mobile platform. We propose a hybrid map representation that combines a Gaussian splatting m
Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the gold standard, but its accuracy is limited by the representati
Robots require high-fidelity reconstructions of their environment for effective operation. Such scene representations should be both, geometrically accurate and photorealistic to support downstream tasks. While this can be achieved by building distance fields from range sensors and radiance fields f…
Conventional crop production, which is essential for providing food, feed, fuel, and fiber for our society, relies heavily on harmful herbicides to control weeds. Instead, agricultural robots could remove weeds more sustainably. However, these robots require a generalizable perception system that ca
Building accurate maps is a key building block to enable reliable localization planning and navigation of autonomous vehicles. We propose a novel approach for building accurate 3D maps of dynamic environments utilizing a sequence of LiDAR scans. To this end we propose encoding the 4D scene into a no…
Accurate mapping of large-scale environments is an essential building block of most outdoor autonomous systems. Challenges of traditional mapping methods include the balance between memory consumption and mapping accuracy. This paper addresses the problem of achieving large-scale 3D reconstruction u…
This letter presents a complete framework Meeting-Merging-Mission for multi-robot exploration under communication restriction. Considering communication is limited in both bandwidth and range in the real world, we propose a lightweight environment presentation method and an efficient cooperative exp…
The visible capability is critical in many robot applications, such as inspection and surveillance, etc. Without the assurance of the visibility to targets, some tasks end up not being complete or even failing. In this paper, we propose a visibility guaranteed planner by star-convex constrained opti…
The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating safe motions to avoid obstacles while ensuring flight smoothness. Although many works on quadrotor planning have been prop…