Semantically-Enhanced Deep Collision Prediction for Autonomous Navigation Using Aerial Robots
Mihir Kulkarni,Huan Nguyen,Kostas Alexis,Mihir Kulkarni,Huan Nguyen,Kostas Alexis
This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation of the robot. The proposed solution builds upon a semantically-enhanced Variational Autoencoder that is trained with both real-world and simulated depth images to compress the...
