FrontierNet learns to propose frontier exploration targets and their information gain from RGB images plus monocular depth, improving early-stage mapped volume in simulation and on a real robot.
Exploration and mapping of catacombs with mobile robots,
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FrontierNet: Learning Visual Cues to Explore
FrontierNet learns to propose frontier exploration targets and their information gain from RGB images plus monocular depth, improving early-stage mapped volume in simulation and on a real robot.