Topological Exploration using Segmented Map with Keyframe Contribution in Subterranean Environments
Boseong Kim,Hyunki Seong,D. Hyunchul Shim,Boseong Kim,Hyunki Seong,D. Hyunchul Shim
Existing exploration algorithms mainly generate frontiers using random sampling or motion primitive methods within a specific sensor range or search space. However, frontiers generated within constrained spaces lead to back-and-forth maneuvers in large-scale environments, thereby diminishing exploration efficiency. To address this issue, we propose a method that utilizes a 3D dense map to generate...
