SubTGraph synthesizes controllable large-scale subterranean worlds from user constraints and DARPA tiles via Dijkstra to enable statistical validation of robotic autonomy stacks.
What localizes beneath: A metric multisensor localization and mapping system for autonomous underground mining vehicles.Journal of Field Robotics, 38(1):5– 27, 2021
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SubTGraph: Large-Scale Subterranean Environment Synthesis with Controllable Topological Variability for Robotic Autonomy Validation
SubTGraph synthesizes controllable large-scale subterranean worlds from user constraints and DARPA tiles via Dijkstra to enable statistical validation of robotic autonomy stacks.