3D Active Metric-Semantic SLAM

In this letter, we address the problem of exploration and metric-semantic mapping of multi-floor GPS-denied indoor environments using Size Weight and Power (SWaP) constrained aerial robots. Most previous work in exploration assumes that robot localization is solved. However, neglecting the state unc...

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Veröffentlicht in:	arXiv.org 2024-02
Hauptverfasser:	Yuezhan Tao, Liu, Xu, Spasojevic, Igor, Agarwal, Saurav, Kumar, Vijay
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Robotics Errors Global positioning systems GPS Indoor environments Localization Pose estimation Robots Semantics Simultaneous localization and mapping Spatial data Uncertainty Yaw
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