Voxeland: Towards an Effective Representation of the Workspace of Mobile Robots

(Jan’24–Dec’27)
University Project

@inproceedings{moncada2025ecmr,

title = {Mobile Robot Place Segmentation and Categorization Using Object Semantics},

author = {Moncada-Ramirez, Jesús and Ruiz-Sarmiento, J. R. and Galindo, Cipriano and Gonzalez-Jimenez, Javier},

url = {https://ieeexplore.ieee.org/document/11163204},

doi = {10.1109/ECMR65884.2025.11163204},

year  = {2025},

date = {2025-09-01},

booktitle = {European Conference on Mobile Robots},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{SerranoMesa2026,

title = {Mapeo semántico de vocabulario abierto mediante 3D Gaussian Splatting},

author = {Serrano-Mesa, Jorge and Moncada-Ramirez, Jesús and Ojeda, Pepe and Ambrosio, Gregorio and Ruiz-Sarmiento, J. R. and Gonzalez-Jimenez, Javier},

url = {https://revistas.udc.es/index.php/JA_CEA/article/view/13803/9700},

doi = {10.17979/ja-cea.2026.47.13803},

year  = {2026},

date = {2026-09-01},

urldate = {2026-09-01},

booktitle = {Jornadas de Automática CEA, Córdoba},

journal = {XLVII Jornadas de Automática, Córdoba, Visión por Computador},

number = {47},

abstract = {<jats:p>Open-vocabulary semantic maps are key to the autonomy of mobile robots in complex, unstructured environments. Compared to traditional techniques, open-vocabulary semantic maps represent a significant improvement, as they are not limited by a predefined set of categories. For their construction, geometric representations based on 3D Gaussian Splatting enriched with low-level semantic descriptors have gained popularity. However, robotic operations demand high-level labels, such as textual descriptions and categories. This work presents an evolution of OpenSplat3D that integrates Large Vision-Language Models (LVLMs) for the description and categorization of object instances, whose consistency is validated within the latent space of Vision-Language Models (VLMs). Additionally, the geometric reconstruction has been optimized through dense initialization and the use of a depth-based loss function. Both proposals are validated using the Replica and ScanNet datasets, yielding accurate, semantically enriched maps.</jats:p>},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{torremocha2025rbvm,

title = {Application of Large Vision-Language Models for Semantic Map Refinement in Mobile Robotics},

author = {Torremocha-Doblas, Adrian and Ojeda, Pepe and Ruiz-Sarmiento, J. R. and Gonzalez-Jimenez, Javier},

doi = {10.64117/simposioscea.v1i1.56},

year  = {2025},

date = {2025-06-01},

booktitle = {Simposio CEA de Robótica, Bioingeniería, Visión Artificial y Automática Marina},

volume = {1},

number = {1},

address = {Almería (Spain)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{decena2025rbvm,

title = {Semantic Segmentation of Object Instances Using an Open Vocabulary},

author = {Decena-Giménez, Macorís and Moncada-Ramirez, Jesús and Ruiz-Sarmiento, J. R. and Gonzalez-Jimenez, Javier},

doi = {10.64117/simposioscea.v1i1.38},

year  = {2025},

date = {2025-06-01},

urldate = {2025-06-01},

booktitle = {Simposio CEA de Robótica, Bioingeniería, Visión Artificial y Automática Marina},

volume = {1},

number = {1},

address = {Almería (Spain)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{canete2025rbvm,

title = {User detection system and proactive communication for an autonomous service robot},

author = {Cañete, A. and Galindo, Cipriano and Moreno, Francisco-Angel and Gonzalez-Jimenez, Javier},

url = {https://doi.org/10.64117/simposioscea.v1i1.46},

doi = {10.64117/simposioscea.v1i1.46},

year  = {2025},

date = {2025-06-01},

urldate = {2025-06-01},

booktitle = {Simposio CEA de Robótica, Bioingeniería, Visión Artificial y Automática Marina},

volume = {1},

number = {1},

address = {Almería (Spain)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{quemada2025rbvm,

title = {Web Tool for User Management in HRI},

author = {Quemada-Torres, E. and Moreno, Francisco-Angel and Galindo, Cipriano and Gonzalez-Jimenez, Javier},

doi = {10.64117/simposioscea.v1i1.48},

year  = {2025},

date = {2025-06-01},

booktitle = {Simposio CEA de Robótica, Bioingeniería, Visión Artificial y Automática Marina},

volume = {1},

number = {1},

address = {Almería (Spain)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{moncada2024ja,

title = {Large Models for Semantic Mapping in Mobile Robotics},

author = {Moncada-Ramirez, Jesús and Ruiz-Sarmiento, J. R. and Matez-Bandera, J. L and Gonzalez-Jimenez, Javier},

url = {https://revistas.udc.es/index.php/JA_CEA/article/view/10940/8379},

doi = {10.17979/ja-cea.2024.45.10940},

year  = {2024},

date = {2024-09-01},

booktitle = {XLV Jornadas de Automática},

address = {Málaga (Spain)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{goyo2024ja,

title = {Linux Container-based Environment for the Development of Robotic Applications},

author = {Ambrosio, Gregorio and Matez-Bandera, J. L and Ruiz-Sarmiento, J. R. and Gonzalez-Jimenez, Javier},

url = {https://revistas.udc.es/index.php/JA_CEA/article/view/10943/8381},

doi = {10.17979/ja-cea.2024.45.10943},

year  = {2024},

date = {2024-09-01},

booktitle = {XLV Jornadas de Automática},

address = {Málaga (Spain)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{ant2024ja,

title = {Multimodal System for the Orientation of Mobile Robots Towards its Interlocutor},

author = {Cañete, A. and Quemada-Torres, E. and Ruiz-Sarmiento, J. R. and Moreno, Francisco-Angel and Gonzalez-Jimenez, Javier},

url = {https://revistas.udc.es/index.php/JA_CEA/article/view/10939/8378},

doi = {10.17979/ja-cea.2024.45.10939},

year  = {2024},

date = {2024-09-01},

urldate = {2024-09-01},

booktitle = {XLV Jornadas de Automática},

address = {Málaga (Spain)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}