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cs.RO2024
Open-Set Semantic Uncertainty Aware Metric-Semantic Graph Matching
Kurran Singh, John J. Leonard
Underwater object-level mapping requires incorporating visual foundation models to handle the uncommon and often previously unseen object classes encountered in marine scenarios. I…
cs.RO2024
Opti-Acoustic Semantic SLAM with Unknown Objects in Underwater Environments
Kurran Singh, Jungseok Hong, Nicholas R. Rypkema +1
Despite recent advances in semantic Simultaneous Localization and Mapping (SLAM) for terrestrial and aerial applications, underwater semantic SLAM remains an open and largely unadd…
cs.RO2024
LOSS-SLAM: Lightweight Open-Set Semantic Simultaneous Localization and Mapping
Kurran Singh, Tim Magoun, John J. Leonard
Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the a…