SplatPlanner: Efficient Autonomous Exploration via Permutohedral Frontier Filtering
Anthony Brunel,Amine Bourki,Cédric Demonceaux,Olivier Strauss,Anthony Brunel,Amine Bourki,Cédric Demonceaux,Olivier Strauss
We address the problem of autonomous exploration of unknown environments using a Micro Aerial Vehicle (MAV) equipped with an active depth sensor. As such, the task consists in mapping the gradually discovered environment while planning the envisioned trajectories in real-time, using on-board computation only. To do so, we present SplatPlanner, an end-to-end autonomous planner that is based on a no...
