Fast and Safe Exploration via Adaptive Semantic Perception in Outdoor Environments
Zhihao Wang,Lingxu Chen,Hongjin Chen,Haoyao Chen,Xin Jiang,Zhihao Wang,Lingxu Chen,Hongjin Chen,Haoyao Chen,Xin Jiang
Autonomous exploration in unknown environments is a fundamental task for robots. Existing approaches mostly were concentrated on the efficiency of the exploration with the assumption of perfect state estimation, but the drift of pose estimation in visual SLAM occurs frequently and is detrimental to robot's localization and exploration performance. In this paper, a perception-aware exploration(PAE)...