Topology-Guided Path Planning for Reliable Visual Navigation of MAVs
Dabin Kim,Gyeong Chan Kim,Youngseok Jang,H. Jin Kim,Dabin Kim,Gyeong Chan Kim,Youngseok Jang,H. Jin Kim
Visual navigation has been widely used for state estimation of micro aerial vehicles (MAVs). For stable visual navigation, MAVs should generate perception-aware paths which guarantee enough visible landmarks. Many previous works on perception-aware path planning focused on sampling-based planners. However, they may suffer from sample inefficiency, which leads to computational burden for finding a ...
