Autonomy Talks - Margarita Grinvald: Dense Object-​Level Mapping

Autonomy Talks - 28/06/21

Speaker: Margarita Grinvald, Autonomous Systems Lab, ETH Zürich

Title: Dense Object-​Level Mapping

Abstract: To autonomously navigate and plan interactions in real-world environments, robots re- quire the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene geometry, the key insight toward a truly functional understanding of the environment is the usage of higher-level entities during mapping, such as individual object instances. This talk presents some of our recent progress in the field of dense object-level mapping in challenging scenarios. In the first part of the talk we will explore in depth the topic of online instance-aware se- mantic mapping of static real-world environments under open-set conditions. The second part of the talk covers a novel multi-object map representation that we propose for the multiple dynamic object tracking and reconstruction task.

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