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3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs
(2023)2023 IEEE International Conference on Robotics and Automation (ICRA)Numerous applications require robots to operate in environments shared with other agents, such as humans or other robots. However, such shared scenes are typically subject to different kinds of long-term semantic scene changes. The ability to model and predict such changes is thus crucial for robot autonomy. In this work, we formalize the task of semantic scene variability estimation and identify three main varieties of semantic scene ...Conference Paper -
SphNet: A Spherical Network for Semantic Pointcloud Segmentation
(2023)2023 IEEE International Conference on Robotics and Automation (ICRA)Semantic segmentation for robotic systems can enable a wide range of applications, from self-driving cars and augmented reality systems to domestic robots. We argue that a spherical representation is a natural one for egocentric pointclouds. Thus, in this work, we present a novel framework exploiting such a representation of LiDAR pointclouds for the task of semantic segmentation. Our approach is based on a spherical convolutional neural ...Conference Paper