3 papers
cs.CV2026
Vernata: Self-Supervised Learning of LiDAR Point Representations
Oliver Lemke, Alexander Liniger, Abel Gawel +1
LiDAR serves as a primary sensing modality for robots operating in outdoor environments. However, the performance of deep learning models in this domain is severely limited by the…
cs.RO2026
Prior-SG: Task and Prior Driven Region Segmentation for Scene Graphs in Arbitrarily-Structured Environments
Giorgio Tonetti, Laurent Kneip, Abel Gawel +1
Hierarchical 3D scene graphs are a promising representation for high-level spatial reasoning in autonomous mobile platforms. However, existing extraction frameworks typically rely…
cs.RO2026
Trinity: Unifying Class-Agnostic Terrain and Semantic Segmentation for Unstructured Outdoor Environments by Leveraging Synthetic Data
Marcus G Müller, Wout Boerdijk, Maximilian Durner +5
Terrain understanding is fundamental for mobile robots operating in unstructured outdoor environments. Existing vision-based traversability estimation methods rely on robot-specifi…