國立虎尾科技大學 |

3D Spatial Perception with Real-Time Dense Metric-Semantic SLAM.

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	3D Spatial Perception with Real-Time Dense Metric-Semantic SLAM./
Author:	Rosinol, Antoni.
Description:	1 online resource (293 pages)
Notes:	Source: Dissertations Abstracts International, Volume: 85-02, Section: B.
Contained By:	Dissertations Abstracts International85-02B.
Subject:	Accuracy. -
Online resource:	click for full text (PQDT)
ISBN:	9798380096683

3D Spatial Perception with Real-Time Dense Metric-Semantic SLAM.
Rosinol, Antoni.

3D Spatial Perception with Real-Time Dense Metric-Semantic SLAM. - 1 online resource (293 pages)

Source: Dissertations Abstracts International, Volume: 85-02, Section: B.

Thesis (Ph.D.)--Massachusetts Institute of Technology, 2023.

Includes bibliographical references

3D Spatial Perception is the ability of an agent to perceive and understand the three-dimensional structure of its environment, including its position and orientation within that environment. This ability is essential for autonomous robots to navigate and interact with their surroundings, since it enables robots to perform a wide variety of tasks, such as obstacle avoidance, path planning, and object manipulation.To provide robots with a detailed and accurate representation of the surrounding environment, this thesis first proposes the use of a map representation that is geometrically dense, photometrically accurate, and semantically annotated. We define these maps as metric-semantic maps, and provide algorithms to build such maps in real-time. Metric-semantic maps allow both humans and robots to have a shared understanding of the scene, while providing the robot with sufficient information to localize, plan shortest paths, and avoid obstacles along the way. We then present a novel 3D representation that abstracts a dense metric-semantic map into higher-level concepts - such as rooms, corridors, and buildings - and also encodes static objects and dynamic entities. We define such representations as 3D Dynamic Scene Graphs (DSGs), and provide as well algorithms to build 3D DSGs. Finally, we show how these approaches can be combined to form a Spatial Perception Engine capable of building both metric-semantic maps and 3D DSGs from visual and inertial data. We also demonstrate the effectiveness of 3D DSGs for fast semantic path-planning queries, which can be used to direct robots using natural language commands.In addition to the algorithms presented in this thesis, we open-source our code and datasets for the research community to use and explore. We believe that the algorithms and resources provided in this thesis open up exciting new possibilities in the field of 3D spatial perception, and we hope to inspire further research in this area, with the ultimate goal of creating fully autonomous robots that are able to navigate and operate in complex environments.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2024

Mode of access: World Wide Web

ISBN: 9798380096683Subjects--Topical Terms:

1465628
Accuracy.
Index Terms--Genre/Form:

554714
Electronic books.

3D Spatial Perception with Real-Time Dense Metric-Semantic SLAM.
LDR:03360ntm a22003497 4500 001 1147842
005 20240916075412.5
006 m o d
007 cr bn ---uuuuu
008 250605s2023 xx obm 000 0 eng d
020 $a 9798380096683
035 $a (MiAaPQ)AAI30672347
035 $a (MiAaPQ)MIT1721_1_150288
035 $a AAI30672347
040 $a MiAaPQ $b eng $c MiAaPQ $d NTU
100 1 $a Rosinol, Antoni. $3 1473669
245 1 0 $a 3D Spatial Perception with Real-Time Dense Metric-Semantic SLAM.
264 0 $c 2023
300 $a 1 online resource (293 pages)
336 $a text $b txt $2 rdacontent
337 $a computer $b c $2 rdamedia
338 $a online resource $b cr $2 rdacarrier
500 $a Source: Dissertations Abstracts International, Volume: 85-02, Section: B.
500 $a Advisor: Carlone, Luca;Leonard, John J.
502 $a Thesis (Ph.D.)--Massachusetts Institute of Technology, 2023.
504 $a Includes bibliographical references
520 $a 3D Spatial Perception is the ability of an agent to perceive and understand the three-dimensional structure of its environment, including its position and orientation within that environment. This ability is essential for autonomous robots to navigate and interact with their surroundings, since it enables robots to perform a wide variety of tasks, such as obstacle avoidance, path planning, and object manipulation.To provide robots with a detailed and accurate representation of the surrounding environment, this thesis first proposes the use of a map representation that is geometrically dense, photometrically accurate, and semantically annotated. We define these maps as metric-semantic maps, and provide algorithms to build such maps in real-time. Metric-semantic maps allow both humans and robots to have a shared understanding of the scene, while providing the robot with sufficient information to localize, plan shortest paths, and avoid obstacles along the way. We then present a novel 3D representation that abstracts a dense metric-semantic map into higher-level concepts - such as rooms, corridors, and buildings - and also encodes static objects and dynamic entities. We define such representations as 3D Dynamic Scene Graphs (DSGs), and provide as well algorithms to build 3D DSGs. Finally, we show how these approaches can be combined to form a Spatial Perception Engine capable of building both metric-semantic maps and 3D DSGs from visual and inertial data. We also demonstrate the effectiveness of 3D DSGs for fast semantic path-planning queries, which can be used to direct robots using natural language commands.In addition to the algorithms presented in this thesis, we open-source our code and datasets for the research community to use and explore. We believe that the algorithms and resources provided in this thesis open up exciting new possibilities in the field of 3D spatial perception, and we hope to inspire further research in this area, with the ultimate goal of creating fully autonomous robots that are able to navigate and operate in complex environments.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2024
538 $a Mode of access: World Wide Web
650 4 $a Accuracy. $3 1465628
650 4 $a Datasets. $3 1372549
650 4 $a Localization. $3 1091696
650 4 $a Optimization. $3 669174
650 4 $a Navigation systems. $3 1372854
650 4 $a Aerospace engineering. $3 686400
650 4 $a Electrical engineering. $3 596380
650 4 $a Robotics. $3 561941
655 7 $a Electronic books. $2 local $3 554714
690 $a 0544
690 $a 0538
690 $a 0771
710 2 $a ProQuest Information and Learning Co. $3 1178819
710 2 $a Massachusetts Institute of Technology. $b Department of Aeronautics and Astronautics. $3 1464825
773 0 $t Dissertations Abstracts International $g 85-02B.
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=30672347 $z click for full text (PQDT)