5 citations · 5 across the 12 of their papers we have counts for
12 papers
Kairos: Grounded Forecasting of Presence and Directional Flow in 4D Scene Graphs
Iacopo Catalano, Julio A. Placed, Javier Civera +1
Long-term autonomy in human-populated environments requires anticipating whether and how people will move at times a robot has not yet observed. Existing representations of pedestr…
Hierarchical Aggregation of Semantic Uncertainty in 3D Scene Graphs
Carlos Cueto Zumaya, Iacopo Catalano, Wallace Moreira Bessa +1
Open-vocabulary 3D Scene Graphs (3DSGs) ground each object node in a vision-language embedding, yet they record every entry as equally certain, so a robot querying the map cannot t…
Occupancy-Grounded Room Segmentation for Hierarchical 3D Scene Graphs
Carlos Cueto Zumaya, Iacopo Catalano, Jorge Peña-Queralta +1
Hierarchical 3D scene graphs (3DSGs) for indoor robots organize geometric and semantic information across spatial scales, with a room layer that connects object-level perception to…
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…
EgoMoD: Predicting Global Maps of Dynamics from Local Egocentric Observations
Iacopo Catalano, David Morilla-Cabello, Jorge Pena-Queralta +1
Efficient navigation in dynamic environments requires anticipating how motion patterns evolve beyond the robot's immediate perceptual range, enabling preemptive rather than purely…
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…
Follow-Me in Micro-Mobility with End-to-End Imitation Learning
Sahar Salimpour, Iacopo Catalano, Tomi Westerlund +2
Autonomous micro-mobility platforms face challenges from the perspective of the typical deployment environment: large indoor spaces or urban areas that are potentially crowded and…
Towards Robust UAV Tracking in GNSS-Denied Environments: A Multi-LiDAR Multi-UAV Dataset
Iacopo Catalano, Xianjia Yu, Jorge Pena Queralta
With the increasing prevalence of drones in various industries, the navigation and tracking of unmanned aerial vehicles (UAVs) in challenging environments, particularly GNSS-denied…
Evaluating the Performance of Multi-Scan Integration for UAV LiDAR-based Tracking
Iacopo Catalano, Jorge Peña Queralta, Tomi Westerlund
Drones have become essential tools in a wide range of industries, including agriculture, surveying, and transportation. However, tracking unmanned aerial vehicles (UAVs) in challen…
UAV Tracking with Solid-State Lidars:Dynamic Multi-Frequency Scan Integration
Iacopo Catalano, Ha Sier, Xianjia Yu +2
With the increasing use of drones across various industries, the navigation and tracking of these unmanned aerial vehicles (UAVs) in challenging environments (such as GNSS-denied e…
Fusing Odometry, UWB Ranging, and Spatial Detections for Relative Multi-Robot Localization
Xianjia Yu, Iacopo Catalano, Paola Torrico Morón +3
This letter presents a cooperative relative multi-robot localization design and experimental study. We propose a flexible Monte Carlo approach leveraging a particle filter to estim…
UAV Tracking with Lidar as a Camera Sensors in GNSS-Denied Environments
Ha Sier, Xianjia Yu, Iacopo Catalano +3
LiDAR has become one of the primary sensors in robotics and autonomous system for high-accuracy situational awareness. In recent years, multi-modal LiDAR systems emerged, and among…