Active Bayesian Multi-class Mapping from Range and Semantic Segmentation Observations
Arash Asgharivaskasi Nikolay Atanasov Arash Asgharivaskasi Nikolay Atanasov
Many robot applications call for autonomous exploration and mapping of unknown and unstructured environments. Information-based exploration techniques, such as Cauchy-Schwarz quadratic mutual information (CSQMI) and fast Shannon mutual information (FSMI), have successfully achieved active binary occupancy mapping with range measurements. However, as we envision robots performing complex tasks spec...