The capability of a mobile robot to efficiently and safely perform complex missions is limited
by its knowledge of the environment, namely the situation. Advanced reasoning, decision …

Creating accurate maps of complex, unknown environments is of utmost importance for truly
autonomous navigation robot. However, building these maps online is far from trivial …

Robots responsible for tasks over long time scales must be able to localize consistently and
scalably amid geometric, viewpoint, and appearance changes. Existing visual SLAM …

3D scene graphs have recently emerged as an expressive high-level map representation
that describes a 3D environment as a layered graph where nodes represent spatial …

Inventory monitoring in homes, factories, and retail stores relies on maintaining data despite
objects being swapped, added, removed, or moved. We introduce Lifelong LERF, a method …