5 papers
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…
Massive Parallel Deep Reinforcement Learning for Active SLAM
MartÃn Arce Llobera, Julio A. Placed, Mariano De Paula +1
Recent advances in parallel computing and GPU acceleration have created new opportunities for computation-intensive learning problems such as Active SLAM -- where actions are selec…
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…
Multi-session Localization and Mapping Exploiting Topological Information
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…
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…