25 citations · 58 across the 13 of their papers we have counts for
11 papers · 1 filter
Kairos: Grounded Forecasting of Presence and Directional Flow in 4D Scene Graphs
Iacopo Catalano, Julio A. Placed, Javier Civera +1
Long-term autonomy in human-populated environments requires anticipating whether and how people will move at times a robot has not yet observed. Existing representations of pedestr…
Rheos: Modelling Continuous Motion Dynamics in Hierarchical 3D Scene Graphs
Iacopo Catalano, Francesco Verdoja, Javier Civera +2
3D Scene Graphs (3DSGs) provide hierarchical, multi-resolution abstractions that encode the geometric and semantic structure of an environment, yet their treatment of dynamics rema…
Topology-Aware Decision Making for Multi-Session Localization and Mapping
Lorenzo Montano-Olivan, Julio A. Placed, Luis Montano +1
Operating in previously visited environments is becoming increasingly crucial for autonomous systems, with direct applications in autonomous driving, surveying, and warehouse or ho…
Aion: Towards Hierarchical 4D Scene Graphs with Temporal Flow Dynamics
Iacopo Catalano, Eduardo Montijano, Javier Civera +2
Autonomous navigation in dynamic environments requires spatial representations that capture both semantic structure and temporal evolution. 3D Scene Graphs (3DSGs) provide hierarch…
From Underground Mines to Offices: A Versatile and Robust Framework for Range-Inertial SLAM
Lorenzo Montano-Oliván, Julio A. Placed, Luis Montano +1
Simultaneous Localization and Mapping (SLAM) is an essential component of autonomous robotic applications and self-driving vehicles, enabling them to understand and operate in thei…
G-Loc: Tightly-coupled Graph Localization with Prior Topo-metric Information
Lorenzo Montano-Oliván, Julio A. Placed, Luis Montano +1
Localization in already mapped environments is a critical component in many robotics and automotive applications, where previously acquired information can be exploited along with…
ExplORB-SLAM: Active Visual SLAM Exploiting the Pose-graph Topology
Julio A. Placed, Juan J. Gómez Rodríguez, Juan D. Tardós +1
Deploying autonomous robots capable of exploring unknown environments has long been a topic of great relevance to the robotics community. In this work, we take a further step in th…
A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers
Julio A. Placed, Jared Strader, Henry Carrillo +4
Active Simultaneous Localization and Mapping (SLAM) is the problem of planning and controlling the motion of a robot to build the most accurate and complete model of the surroundin…
Fast Autonomous Robotic Exploration Using the Underlying Graph Structure
Julio A. Placed, José A. Castellanos
In this work, we fully define the existing relationships between traditional optimality criteria and the connectivity of the underlying pose-graph in Active SLAM, characterizing, t…
Enough is Enough: Towards Autonomous Uncertainty-driven Stopping Criteria
Julio A. Placed, José A. Castellanos
Autonomous robotic exploration has long attracted the attention of the robotics community and is a topic of high relevance. Deploying such systems in the real world, however, is st…
A General Relationship between Optimality Criteria and Connectivity Indices for Active Graph-SLAM
Julio A. Placed, José A. Castellanos
Quantifying uncertainty is a key stage in active simultaneous localization and mapping (SLAM), as it allows to identify the most informative actions to execute. However, dealing wi…