{"ID":2921237,"CreatedAt":"2026-06-02T02:42:49.606572591Z","UpdatedAt":"2026-06-04T00:54:56.190393508Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2606.01605","arxiv_id":"2606.01605","title":"Embedding Semantic Risk into Distance Fields and CBFs for Online Monocular Safe Control","abstract":"We propose an online monocular perception-to-control framework that embeds semantic risk into the distance field used by Control Barrier Function (CBF)-based safe navigation and teleoperation. Many perception-based safety filters assign the same distance-based safety margin to all mapped obstacles or use semantics only as a downstream controller adjustment, rather than encoding semantic risk in the spatial representation. Our framework instead reasons online about obstacle geometry and class-dependent risk by embedding semantic information directly into the Euclidean Signed Distance Field (ESDF). This design encodes semantic risk before control optimization, so high-risk objects exert a larger spatial influence in the safety field while retaining efficient ESDF queries at runtime. Specifically, a foundation-model-based SLAM front end reconstructs dense 3-D geometry from monocular RGB video, while per-frame semantic segmentation provides pixel-level class labels that are fused into the reconstructed geometry. The resulting geometric-semantic representation is then converted into an ESDF, where semantic labels identify safety-relevant regions and impose class-dependent inflation before field computation. The semantic-aware ESDF provides the local distance values and spatial derivatives required by the CBF controller, while class-dependent gains further regulate the controller response. Extensive simulation and hardware experiments demonstrate online operation at 10--20 Hz and semantic-aware safe behavior in both teleoperation and autonomous navigation.","short_abstract":"We propose an online monocular perception-to-control framework that embeds semantic risk into the distance field used by Control Barrier Function (CBF)-based safe navigation and teleoperation. Many perception-based safety filters assign the same distance-based safety margin to all mapped obstacles or use semantics only...","url_abs":"https://arxiv.org/abs/2606.01605","url_pdf":"https://arxiv.org/pdf/2606.01605v1","authors":"[\"Dawei Zhang\",\"Nuo Chen\",\"Shuo Liu\",\"Roberto Tron\",\"Zhiwen Fan\"]","published":"2026-06-01T02:57:31Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}