ContraMap: Contrastive Uncertainty Mapping for Robot Environment Representation

Reliable robot perception requires not only predicting scene structure, but also identifying where predictions should be treated as unreliable due to sparse or missing observations. We present ContraMap, a contrastive continuous mapping method that augments kernel-based discriminative maps with an explicit uncertainty class trained using synthetic noise samples. This formulation treats unobserved regions as a contrastive class, enabling joint environment prediction and spatial uncertainty estimation in real time without Bayesian inference. Under a simple mixture-model view, we show that the probability assigned to the uncertainty class is a monotonic function of a distance-aware uncertain...

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