9 papers
HP2-SLAM: Adaptive Hybrid ICP for Robust and Efficient LiDAR SLAM
Nam Tran, Thu Tran, Hieu Phan +4
Achieving robustness, accuracy, and efficiency simultaneously remains a central challenge in light detection and ranging (LiDAR) simultaneous localization and mapping (SLAM). While…
A Contrastive Fewshot RGBD Traversability Segmentation Framework for Indoor Robotic Navigation
Qiyuan An, Tuan Dang, Fillia Makedon
Indoor traversability segmentation aims to identify safe, navigable free space for autonomous agents, which is critical for robotic navigation. Pure vision-based models often fail…
T2Nav Algebraic Topology Aware Temporal Graph Memory and Loop Detection for ZeroShot Visual Navigation
Quang-Anh N. D., Duc Pham, Minh-Anh Nguyen +2
Deploying autonomous agents in real world environments is challenging, particularly for navigation, where systems must adapt to situations they have not encountered before. Traditi…
TriaGS: Differentiable Triangulation-Guided Geometric Consistency for 3D Gaussian Splatting
Quan Tran, Tuan Dang
3D Gaussian Splatting is crucial for real-time novel view synthesis due to its efficiency and ability to render photorealistic images. However, building a 3D Gaussian is guided sol…
Bio-Inspired Hybrid Map: Spatial Implicit Local Frames and Topological Map for Mobile Cobot Navigation
Tuan Dang, Manfred Huber
Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models…
Distortion-Aware Adversarial Attacks on Bounding Boxes of Object Detectors
Pham Phuc, Son Vuong, Khang Nguyen +1
Deep learning-based object detection has become ubiquitous in the last decade due to its high accuracy in many real-world applications. With this growing trend, these models are in…
Volumetric Mapping with Panoptic Refinement via Kernel Density Estimation for Mobile Robots
Khang Nguyen, Tuan Dang, Manfred Huber
Reconstructing three-dimensional (3D) scenes with semantic understanding is vital in many robotic applications. Robots need to identify which objects, along with their positions an…
V3D-SLAM: Robust RGB-D SLAM in Dynamic Environments with 3D Semantic Geometry Voting
Tuan Dang, Khang Nguyen, Mandfred Huber
Simultaneous localization and mapping (SLAM) in highly dynamic environments is challenging due to the correlation complexity between moving objects and the camera pose. Many method…
Real-time 3D Semantic Scene Perception for Egocentric Robots with Binocular Vision
K. Nguyen, T. Dang, M. Huber
Perceiving a three-dimensional (3D) scene with multiple objects while moving indoors is essential for vision-based mobile cobots, especially for enhancing their manipulation tasks.…