Online Object-Level Semantic Mapping for Quadrupeds in Real-World Environments
Fuente:
arXiv
Enregistré dans:
| Auteurs principaux: | , , , , |
|---|---|
| Format: | Preprint |
| Publié: |
2025
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866915567842099200 |
|---|---|
| author | Razavi, Emad Bratta, Angelo Soares, João Carlos Virgolino Recchiuto, Carmine Semini, Claudio |
| author_facet | Razavi, Emad Bratta, Angelo Soares, João Carlos Virgolino Recchiuto, Carmine Semini, Claudio |
| contents | We present an online semantic object mapping system for a quadruped robot operating in real indoor environments, turning sensor detections into named objects in a global map. During a run, the mapper integrates range geometry with camera detections, merges co-located detections within a frame, and associates repeated detections into persistent object instances across frames. Objects remain in the map when they are out of view, and repeated sightings update the same instance rather than creating duplicates. The output is a compact object layer that can be queried (class, pose, and confidence), is integrated with the occupancy map and readable by a planner. In on-robot tests, the layer remained stable across viewpoint changes. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_18776 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Online Object-Level Semantic Mapping for Quadrupeds in Real-World Environments Razavi, Emad Bratta, Angelo Soares, João Carlos Virgolino Recchiuto, Carmine Semini, Claudio Robotics We present an online semantic object mapping system for a quadruped robot operating in real indoor environments, turning sensor detections into named objects in a global map. During a run, the mapper integrates range geometry with camera detections, merges co-located detections within a frame, and associates repeated detections into persistent object instances across frames. Objects remain in the map when they are out of view, and repeated sightings update the same instance rather than creating duplicates. The output is a compact object layer that can be queried (class, pose, and confidence), is integrated with the occupancy map and readable by a planner. In on-robot tests, the layer remained stable across viewpoint changes. |
| title | Online Object-Level Semantic Mapping for Quadrupeds in Real-World Environments |
| topic | Robotics |
| url | https://arxiv.org/abs/2510.18776 |