Efficient Computation of Map-scale Continuous Mutual Information on Chip in Real Time
Keshav Gupta,Peter Zhi Xuan Li,Sertac Karaman,Vivienne Sze,Keshav Gupta,Peter Zhi Xuan Li,Sertac Karaman,Vivienne Sze
Exploration tasks are essential to many emerging robotics applications, ranging from search and rescue to space exploration. The planning problem for exploration requires determining the best locations for future measurements that will enhance the fidelity of the map, for example, by reducing its total entropy. A widely-studied technique involves computing the Mutual Information (MI) between the c...
