4 papers
Ensemble of Sparse Gaussian Process Experts for Implicit Surface Mapping with Streaming Data
Johannes A. Stork, Todor Stoyanov
Creating maps is an essential task in robotics and provides the basis for effective planning and navigation. In this paper, we learn a compact and continuous implicit surface map o…
Object-RPE: Dense 3D Reconstruction and Pose Estimation with Convolutional Neural Networks for Warehouse Robots
Dinh-Cuong Hoang, Todor Stoyanov, Achim J. Lilienthal
We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our f…
High-quality Instance-aware Semantic 3D Map Using RGB-D Camera
Dinh-Cuong Hoang, Todor Stoyanov, Achim J. Lilienthal
We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrat…
Safe-To-Explore State Spaces: Ensuring Safe Exploration in Policy Search with Hierarchical Task Optimization
Jens Lundell, Robert Krug, Erik Schaffernicht +2
Policy search reinforcement learning allows robots to acquire skills by themselves. However, the learning procedure is inherently unsafe as the robot has no a-priori way to predict…