7 papers
FlexPath: Adapting Learned Connectivity Guidance to Path Preferences
Taehyoung Kim, Tim Schoenbrod, David Eckel +1
Recent learning-based path planners use neural networks to process occupancy representations and approximate heuristics for classical search algorithms, yielding near-optimal paths…
SOCC-ICP: Semantics-Assisted Odometry based on Occupancy Grids and ICP
Johannes Scherer, Sebastian Hirt, Henri MeeÃ
Reliable pose estimation in previously unseen environments is a fundamental capability of autonomous systems. Existing LiDAR odometry methods typically employ point-, surfel-, or N…
OccuFly: A 3D Vision Benchmark for Semantic Scene Completion from the Aerial Perspective
Markus Gross, Sai B. Matha, Aya Fahmy +3
Semantic Scene Completion (SSC) is essential for 3D perception in mobile robotics, as it enables holistic scene understanding by jointly estimating dense volumetric occupancy and p…
SafeLand: Safe Autonomous Landing in Unknown Environments with Bayesian Semantic Mapping
Markus Gross, Andreas Greiner, Sai Bharadhwaj Matha +4
Autonomous landing of uncrewed aerial vehicles (UAVs) in unknown, dynamic environments poses significant safety challenges, particularly near people and infrastructure, as UAVs tra…
Hierarchical Lead Critic based Multi-Agent Reinforcement Learning
David Eckel, Henri MeeÃ
Cooperative Multi-Agent Reinforcement Learning (MARL) solves complex tasks that require coordination from multiple agents, but is often limited to either local (independent learnin…
IPFormer: Visual 3D Panoptic Scene Completion with Context-Adaptive Instance Proposals
Markus Gross, Aya Fahmy, Danit Niwattananan +4
Semantic Scene Completion (SSC) has emerged as a pivotal approach for jointly learning scene geometry and semantics, enabling downstream applications such as navigation in mobile r…