Early Recall, Late Precision: Multi-Robot Semantic Object Mapping under Operational Constraints in Perceptually-Degraded Environments
Xianmei Lei,Taeyeon Kim,Nicolas Marchal,Daniel Pastor,Barry Ridge,Frederik Schöller,Edward Terry,Fernando Chavez,Thomas Touma,Kyohei Otsu,Benjamin Morrell,Ali Agha,Xianmei Lei,Taeyeon Kim,Nicolas Marchal,Daniel Pastor,Barry Ridge,Frederik Schöller,Edward Terry,Fernando Chavez,Thomas Touma,Kyohei Otsu,Benjamin Morrell,Ali Agha
Semantic object mapping in uncertain, perceptually degraded environments during long-range multi-robot autonomous exploration tasks such as search-and-rescue is important and challenging. During such missions, high recall is desirable to avoid missing true target objects and high precision is also critical to avoid wasting valuable operational time on false positives. Given recent advancements in ...
