MonoSpheres achieves large-scale 3D monocular UAV exploration in unstructured real-world environments by oversampling free space in texture-sparse areas, tracking obstacle uncertainty, and using rapid replanning with perception-aware heading control.
UFOMap: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown
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MonoSpheres: Large-Scale Monocular SLAM-Based UAV Exploration through Perception-Coupled Mapping and Planning
MonoSpheres achieves large-scale 3D monocular UAV exploration in unstructured real-world environments by oversampling free space in texture-sparse areas, tracking obstacle uncertainty, and using rapid replanning with perception-aware heading control.