119 citations · 215 across the 46 of their papers we have counts for
9 papers · 1 filter
A Review Of Robotic World Models For Dynamic Environments Based On Factor And Scene Graphs
Marco Giberna, Miguel Fernandez-Cortizas, Jose Luis Sanchez Lopez +1
Models based on graphs have emerged in robotics as a powerful foundation for internal world representations, where factor and scene graphs are among the most prominent model types…
MVP-SLAM: Multi-Camera Visual-Inertial Floorplan-Prior SLAM
Asier Bikandi-Noya, Miguel Fernandez-Cortizas, Muhammad Shaheer +2
Indoor building construction sites are demanding environments for visual SLAM, where variable lighting and repetitive, low-textured structures make the system drift over long traje…
Generation of High-Level Concepts in 3D Scene Graphs via Autoregressive Diffusion
Jose Andres Millan-Romera, Samuel Cognolato, Holger Voos +2
Indoor 3D Scene Graphs (3DSGs) represent environments as multi-layer hierarchies that connect observed geometric primitives (e.g., planes) to higher-level metric-semantic concepts…
SUFLECA: Scaling Up Feature Learning for CAD-to-image Alignment
Saad Ejaz, Miguel Fernandez-Cortizas, Javier Civera +2
CAD-to-image alignment aims to estimate an object's 9D pose (rotation, translation, and anisotropic scale) from a single RGB image, with applications in robotics and augmented real…
Marker-Constrained Pose-Graph Correction for Cross-Platform Georeferencing in GNSS-Denied Environments
Marco Giberna, Jose Luis Sanchez Lopez, Holger Voos
Autonomous operation in GNSS-denied environments requires heterogeneous mapping pipelines to maintain a consistent spatial reference. This paper presents a framework using camoufla…
Learning-Based Hierarchical Scene Graph Matching for Robot Localization Leveraging Prior Maps
Nimrod Millenium Ndulue, Jose Andres Millan-Romera, Matteo Giorgi +2
Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarch…
Robust Graph Matching through Semantic Relationship Generation for SLAM
David Perez-Saura, Jose Andres Millan-Romera, Miguel Fernandez-Cortizas +3
Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prio…
COMPASS: COmpact Multi-channel Prior-map And Scene Signature for Floor-Plan-Based Visual Localization
Muhammad Shaheer, Miguel Fernandez-Cortizas, Asier Bikandi-Noya +2
Architectural floor plans are widely available priors which contain not only geometry but also the semantic information of the environment, yet existing localization methods largel…
Passage-Aware Structural Mapping for RGB-D Visual SLAM
Ali Tourani, Miguel Fernandez-Cortizas, Saad Ejaz +4
Doorways and passages are critical structural elements for indoor robot navigation, yet they remain underexplored in modern Visual SLAM (VSLAM) frameworks. This paper presents a pa…