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cs.RO2024
Generation of Uncertainty-Aware High-Level Spatial Concepts in Factorized 3D Scene Graphs via Graph Neural Networks
Jose Andres Millan-Romera, Muhammad Shaheer, Miguel Fernandez-Cortizas +3
Enabling robots to autonomously discover high-level spatial concepts (e.g., rooms and walls) from primitive geometric observations (e.g., planar surfaces) within 3D Scene Graphs is…
cs.RO2024
Tightly Coupled SLAM with Imprecise Architectural Plans
Muhammad Shaheer, Jose Andres Millan-Romera, Hriday Bavle +4
Robots navigating indoor environments often have access to architectural plans, which can serve as prior knowledge to enhance their localization and mapping capabilities. While som…