This project integrates DINOv2 visual foundation model features into nvblox 3D maps, enabling semantic understanding of environments beyond simple RGB color. The system processes RGB-D data, extracts ...

Abstract: Semantic mapping aims to construct a 3D semantic representation of the environment, providing essential knowledge for robots operating in complex outdoor settings. While Bayesian Kernel ...

Developed and implemented all the occupancy mapping based sensor models for mobile robot mapping and successfully implemented the BKI Semantic mapping pipeline.

Abstract: This paper introduces SLIM-VDB, a new lightweight semantic mapping system with probabilistic semantic fusion for closed-set or open-set dictionaries. Advances in data structures from the ...