Information-theoretic Abstraction of Semantic Octree Models for Integrated Perception and Planning
Daniel T. Larsson,Arash Asgharivaskasi,Jaein Lim,Nikolay Atanasov,Panagiotis Tsiotras,Daniel T. Larsson,Arash Asgharivaskasi,Jaein Lim,Nikolay Atanasov,Panagiotis Tsiotras
In this paper, we develop an approach that enables autonomous robots to build and compress semantic environment representations from point-cloud data. Our approach builds a three-dimensional, semantic tree representation of the environment from raw sensor data which is then compressed by a novel information-theoretic tree-pruning approach. The proposed approach is probabilistic and incorporates th...
