Active SLAM using 3D Submap Saliency for Underwater Volumetric Exploration
Sudharshan Suresh,Paloma Sodhi,Joshua G. Mangelson,David Wettergreen,Michael Kaess,Sudharshan Suresh,Paloma Sodhi,Joshua G. Mangelson,David Wettergreen,Michael Kaess
In this paper, we present an active SLAM framework for volumetric exploration of 3D underwater environments with multibeam sonar. Recent work in integrated SLAM and planning performs localization while maintaining volumetric free-space information. However, an absence of informative loop closures can lead to imperfect maps, and therefore unsafe behavior. To solve this, we propose a navigation poli...
