Real-Time Volumetric-Semantic Exploration and Mapping: An Uncertainty-Aware Approach
Rui Pimentel de Figueiredo,Jonas le Fevre Sejersen,Jakob Grimm Hansen,Martim Brandão,Erdal Kayacan,Rui Pimentel de Figueiredo,Jonas le Fevre Sejersen,Jakob Grimm Hansen,Martim Brandão,Erdal Kayacan
In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon exploration techniques for next-best-view (NBV) planning with geometric and semantic segmentation information provided by state-of-the-art deep convolutional neural netwo...
