https://yubangguo.com/tags/robotics/RoboticsSource Themes Academic (https://sourcethemes.com/academic/)en-usSun, 25 Oct 2020 00:00:00 +0000https://yubangguo.com/img/ybg.jpghttps://yubangguo.com/tags/robotics/https://yubangguo.com/publication/3d-scene-graph/Sun, 25 Oct 2020 00:00:00 +0000https://yubangguo.com/publication/3d-scene-graph/<p> <a href="https://youtu.be/vEWNxnSwmKI/" target="_blank" rel="noopener">Supplementary video</a></p> <figure id="figure-the-aog-structure"> <a data-fancybox="" href="https://yubangguo.com/publication/3d-scene-graph/AOG_hu21a5f568461294d7a4eb028a04e58f61_69972_2000x2000_fit_q90_lanczos.jpg" data-caption="The AOG structure."> <img data-src="https://yubangguo.com/publication/3d-scene-graph/AOG_hu21a5f568461294d7a4eb028a04e58f61_69972_2000x2000_fit_q90_lanczos.jpg" class="lazyload" alt="" width="1132" height="331"> </a> <figcaption> The AOG structure. </figcaption> </figure> <figure id="figure-the-inference-from-perception"> <a data-fancybox="" href="https://yubangguo.com/publication/3d-scene-graph/infer_hu6a83aac6d26768f6860b807db7ef12a7_60596_2000x2000_fit_q90_lanczos.jpg" data-caption="The inference from perception."> <img data-src="https://yubangguo.com/publication/3d-scene-graph/infer_hu6a83aac6d26768f6860b807db7ef12a7_60596_2000x2000_fit_q90_lanczos.jpg" class="lazyload" alt="" width="822" height="330"> </a> <figcaption> The inference from perception. </figcaption> </figure> <figure id="figure-the-result-of-the-parse-graph-from-different-methods"> <a data-fancybox="" href="https://yubangguo.com/publication/3d-scene-graph/result_graph_hu9e0bca43d6affad1abac21f74f09b46e_108517_2000x2000_fit_q90_lanczos.jpg" data-caption="The result of the parse graph from different methods."> <img data-src="https://yubangguo.com/publication/3d-scene-graph/result_graph_hu9e0bca43d6affad1abac21f74f09b46e_108517_2000x2000_fit_q90_lanczos.jpg" class="lazyload" alt="" width="1262" height="342"> </a> <figcaption> The result of the parse graph from different methods. </figcaption> </figure> <figure id="figure-the-result-of-the-accuracy-from-different-methods"> <a data-fancybox="" href="https://yubangguo.com/publication/3d-scene-graph/result_table_hub7aeb8abc2d77806a959c1316f9cd533_38497_2000x2000_fit_q90_lanczos.jpg" data-caption="The result of the accuracy from different methods."> <img data-src="https://yubangguo.com/publication/3d-scene-graph/result_table_hub7aeb8abc2d77806a959c1316f9cd533_38497_2000x2000_fit_q90_lanczos.jpg" class="lazyload" alt="" width="602" height="228"> </a> <figcaption> The result of the accuracy from different methods. </figcaption> </figure> <p>We use laser to provide the location information and use scene graph to achieve the target-driven navigation.</p> <figure id="figure-the-demo-in-webots-to-achieve-semantic-navigation"> <a data-fancybox="" href="https://yubangguo.com/publication/3d-scene-graph/demo_huf0c3a530615f26a5be332980abc23b24_65763_2000x2000_fit_q90_lanczos.jpg" data-caption="The demo in Webots to achieve semantic navigation."> <img data-src="https://yubangguo.com/publication/3d-scene-graph/demo_huf0c3a530615f26a5be332980abc23b24_65763_2000x2000_fit_q90_lanczos.jpg" class="lazyload" alt="" width="598" height="377"> </a> <figcaption> The demo in Webots to achieve semantic navigation. </figcaption> </figure> <video controls > <source src="https://yubangguo.com/img/Iros.mp4" type="video/mp4"> </video>