A hybrid neural-geometric approach processes tilted LiDAR data to estimate yaw and compute safe position, enabling localization-free navigation in straight and curved tunnels.
Dronument: System for reliable deployment of micro aerial vehicles in dark areas of large historical monuments
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Neural-Geometric Tunnel Traversal: Localization-free UAV Flight with Tilted LiDARs
A hybrid neural-geometric approach processes tilted LiDAR data to estimate yaw and compute safe position, enabling localization-free navigation in straight and curved tunnels.