From the 1 of 4 linked papers with an AI index.
4 papers
Instance-Enriched Semantic Maps for Visual Language Navigation
Jiho Hong, Eunae Kang, Sanghyun Kim +1
The paper proposes a framework that creates instance‑enriched 2.5D semantic maps from color and depth observations and uses large language models to process diverse navigation quer…
MSG-Loc: Multi-Label Likelihood-based Semantic Graph Matching for Object-Level Global Localization
Gihyeon Lee, Jungwoo Lee, Juwon Kim +2
Robots are often required to localize in environments with unknown object classes and semantic ambiguity. However, when performing global localization using semantic objects, high…
Uni-Mapper: Unified Mapping Framework for Multi-modal LiDARs in Complex and Dynamic Environments
Gilhwan Kang, Hogyun Kim, Byunghee Choi +3
The unification of disparate maps is crucial for enabling scalable robot operation across multiple sessions and collaborative multi-robot scenarios. However, achieving a unified ma…
DiTer++: Diverse Terrain and Multi-modal Dataset for Multi-Robot SLAM in Multi-session Environments
Juwon Kim, Hogyun Kim, Seokhwan Jeong +2
We encounter large-scale environments where both structured and unstructured spaces coexist, such as on campuses. In this environment, lighting conditions and dynamic objects chang…