2 papers
cs.RO2026
Probabilistic Scene Graphs: Hierarchical Representation and Real-time System
Waqas Ali, Michele Antonazzi, Timon Homberger +4
3D scene graphs provide semantically rich and hierarchical representations for robot perception. However, existing systems do not maintain uncertainty as an explicit belief or prop…
cs.RO2024
HD-maps as Prior Information for Globally Consistent Mapping in GPS-denied Environments
Waqas Ali, Patric Jensfelt, Thien-Minh Nguyen
In recent years, prior maps have become a mainstream tool in autonomous navigation. However, commonly available prior maps are still tailored to control-and-decision tasks, and the…