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.
UA Vs Beneath the Sur- face: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
fields
cs.RO 1years
2025 1verdicts
UNVERDICTED 1representative citing papers
citing papers explorer
-
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.