8 papers
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…
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…
Situationally-aware Path Planning Exploiting 3D Scene Graphs
Saad Ejaz, Marco Giberna, Muhammad Shaheer +5
3D Scene Graphs integrate both metric and semantic information, yet their structure remains underutilized for improving path planning efficiency and interpretability. In this work,…
DYNEMO-SLAM: Dynamic Entity and Motion-Aware 3D Scene Graph SLAM
Marco Giberna, Muhammad Shaheer, Miguel Fernandez-Cortizas +3
Robots operating in dynamic environments face significant challenges due to the presence of moving agents and displaced objects. Traditional SLAM systems typically assume a static…
Interpretable Robot Control via Structured Behavior Trees and Large Language Models
Ingrid Maéva Chekam, Ines Pastor-Martinez, Ali Tourani +5
As intelligent robots become more integrated into human environments, there is a growing need for intuitive and reliable Human-Robot Interaction (HRI) interfaces that are adaptable…