This project integrates DINOv2 visual foundation model features into nvblox 3D maps, enabling semantic understanding of environments beyond simple RGB color. The system processes RGB-D data, extracts ...

Abstract: Semantic mapping aims to construct a 3D semantic representation of the environment, providing essential knowledge for robots operating in complex outdoor settings. While Bayesian Kernel ...

While the original course project emphasized semantic mapping, this version restructures and extends the system to improve modularity, maintainability, and autonomy. The codebase has been refactored ...

Abstract: This paper introduces SLIM-VDB, a new lightweight semantic mapping system with probabilistic semantic fusion for closed-set or open-set dictionaries. Advances in data structures from the ...

Semantic layers have been around for a long time - but with underwhelming results. Is the concept outdated? No, but something it missing. In the big data era, we need to raise our data abstraction ...