Enabling Topological Planning with Monocular Vision
Gregory J. Stein,Christopher Bradley,Victoria Preston,Nicholas Roy,Gregory J. Stein,Christopher Bradley,Victoria Preston,Nicholas Roy
Topological strategies for navigation meaningfully reduce the space of possible actions available to a robot, allowing use of heuristic priors or learning to enable computationally efficient, intelligent planning. The challenges in estimating structure with monocular SLAM in low texture or highly cluttered environments have precluded its use for topological planning in the past. We propose a robus...
