23 citations · 44 across the 28 of their papers we have counts for
7 papers · 1 filter
Towards Localizing Structural Elements: Merging Geometrical Detection with Semantic Verification in RGB-D Data
Ali Tourani, Saad Ejaz, Hriday Bavle +2
RGB-D cameras supply rich and dense visual and spatial information for various robotics tasks such as scene understanding, map reconstruction, and localization. Integrating depth a…
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…
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…
Graph-Based vs. Error State Kalman Filter-Based Fusion Of 5G And Inertial Data For MAV Indoor Pose Estimation
Meisam Kabiri, Claudio Cimarelli, Hriday Bavle +2
5G New Radio Time of Arrival (ToA) data has the potential to revolutionize indoor localization for micro aerial vehicles (MAVs). However, its performance under varying network setu…
Human-Centric Aware UAV Trajectory Planning in Search and Rescue Missions Employing Multi-Objective Reinforcement Learning with AHP and Similarity-Based Experience Replay
Mahya Ramezani, Jose Luis Sanchez-Lopez
The integration of Unmanned Aerial Vehicles (UAVs) into Search and Rescue (SAR) missions presents a promising avenue for enhancing operational efficiency and effectiveness. However…
UAV-assisted Visual SLAM Generating Reconstructed 3D Scene Graphs in GPS-denied Environments
Ahmed Radwan, Ali Tourani, Hriday Bavle +2
Aerial robots play a vital role in various applications where the situational awareness of the robots concerning the environment is a fundamental demand. As one such use case, dron…
Multi S-Graphs: An Efficient Distributed Semantic-Relational Collaborative SLAM
Miguel Fernandez-Cortizas, Hriday Bavle, David Perez-Saura +3
Collaborative Simultaneous Localization and Mapping (CSLAM) is critical to enable multiple robots to operate in complex environments. Most CSLAM techniques rely on raw sensor measu…