Information Theoretic Active Exploration in Signed Distance Fields
Kelsey Saulnier,Nikolay Atanasov,George J. Pappas,Vijay Kumar,Kelsey Saulnier,Nikolay Atanasov,George J. Pappas,Vijay Kumar
This paper focuses on exploration and occupancy mapping of unknown environments using a mobile robot. While a truncated signed distance field (TSDF) is a popular, efficient, and highly accurate representation of occupancy, few works have considered optimizing robot sensing trajectories for autonomous TSDF mapping. We propose an efficient approach for maintaining TSDF uncertainty and predicting its...
