Pith Number

pith:IQ5PV2RV

pith:2025:IQ5PV2RVEKBEYLFY5FYKWMPDPQ

not attested not anchored not stored refs resolved

MonoSpheres: Large-Scale Monocular SLAM-Based UAV Exploration through Perception-Coupled Mapping and Planning

Martin Saska, Mat\v{e}j Petrl\'ik, Tom\'a\v{s} Musil

Monocular SLAM with oversampled free-space mapping and uncertainty-aware planning lets UAVs explore large unstructured 3D outdoor environments.

arxiv:2511.17299 v2 · 2025-11-21 · cs.RO

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

To the best of the authors' knowledge, the proposed method is the first to achieve 3D monocular exploration in real-world unstructured outdoor environments.

C2weakest assumption

That the sparse monocular SLAM frontend, when augmented with oversampling and uncertainty tracking, provides sufficiently reliable free-space information for safe planning in textureless or low-parallax regions.

C3one line summary

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.

References

26 extracted · 26 resolved · 0 Pith anchors

[1] CERBERUS in the DARPA Subterranean Challenge, 2022

[2] Heterogeneous Ground and Air Platforms, Homogeneous Sensing: Team CSIRO Data61’s Approach to the DARPA Subterranean Challenge, 2021

[3] UA Vs Beneath the Sur- face: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT, 2022

[4] From monocular SLAM to autonomous drone exploration, 2017

[5] Monocular 3D Exploration using Lines-of-Sight and Local Maps, 2020

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-17T23:39:17.064399Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

443afaea3522824c2cb8e970ab31e37c18ec579db7253534fba7a0d058f0f43f

Aliases

arxiv: 2511.17299 · arxiv_version: 2511.17299v2 · doi: 10.48550/arxiv.2511.17299 · pith_short_12: IQ5PV2RVEKBE · pith_short_16: IQ5PV2RVEKBEYLFY · pith_short_8: IQ5PV2RV

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Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/IQ5PV2RVEKBEYLFY5FYKWMPDPQ \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 443afaea3522824c2cb8e970ab31e37c18ec579db7253534fba7a0d058f0f43f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "89b8657c95174608e8b1ccfe3e61e5bea29e42ad34ad7e2872cb58ccdefee251",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-11-21T15:11:15Z",
    "title_canon_sha256": "b3704526fb22e75401b130477c89e3fad4295ba63983f1cd23ae4bead00f5166"
  },
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  "source": {
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    "kind": "arxiv",
    "version": 2
  }
}