DeepSemanticHPPC: Hypothesis-based Planning over Uncertain Semantic Point Clouds
Yutao Han,Hubert Lin,Jacopo Banfi,Kavita Bala,Mark Campbell,Yutao Han,Hubert Lin,Jacopo Banfi,Kavita Bala,Mark Campbell
Planning in unstructured environments is challenging - it relies on sensing, perception, scene reconstruction, and reasoning about various uncertainties. We propose DeepSemanticHPPC, a novel uncertainty-aware hypothesis-based planner for unstructured environments. Our algorithmic pipeline consists of: a deep Bayesian neural network which segments surfaces with uncertainty estimates; a flexible poi...
