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 swap constrained aerial robots. Most previous work in exploration assumes that robot localization is solved. However, neglecting the state uncertainty of the agent ca...

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Veröffentlicht in:	IEEE robotics and automation letters 2024-03, Vol.9 (3), p.1-8
Hauptverfasser:	Tao, Yuezhan, Liu, Xu, Spasojevic, Igor, Agarwal, Saurav, Kumar, Vijay
Format:	Artikel
Sprache:	eng
Schlagworte:	Aerial Systems: Perception and Autonomy Autonomous aerial vehicles Errors Global positioning systems GPS Indoor environments Localization Mapping Perception-Action Coupling Planning Pose estimation Real-time systems Robots Semantics Simultaneous localization and mapping Spatial data Three-dimensional displays Uncertainty Yaw
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