Nived Chebrolu

OASIS-Map: Object-Level Change Detection in Multi-Session Mapping using Semantic Correspondence Matching

Haedam Oh, Yifu Tao, Nived Chebrolu, Maurice Fallon

Map representations which are consistent across repeated visits to a real-world semi-static environment are very useful for long-term robotic inspection. In such settings, the scene may evolve while the robot is absent, with objects appearing, disappearing, moving, or being repla…Read more