Finding Things in the Unknown: Semantic Object-Centric Exploration with an MAV
Sotiris Papatheodorou,Nils Funk,Dimos Tzoumanikas,Christopher Choi,Binbin Xu,Stefan Leutenegger,Sotiris Papatheodorou,Nils Funk,Dimos Tzoumanikas,Christopher Choi,Binbin Xu,Stefan Leutenegger
Exploration of unknown space with an autonomous mobile robot is a well-studied problem. In this work we broaden the scope of exploration, moving beyond the pure geometric goal of uncovering as much free space as possible. We believe that for many practical applications, exploration should be contextualised with semantic and object-level understanding of the environment for task-specific exploratio...
