Active SLAM Using 3D Submap Saliency for Underwater Volumetric Exploration
IEEE International Conference on Robotics and Automation（2020）
关键词
underwater volumetric exploration,active SLAM framework,3D underwater environments,multibeam sonar,integrated SLAM,volumetric free-space information,informative loop closures,navigation policy,3D visual dictionary,submap saliency,sensor information,pose-graph SLAM formulation,global occupancy grid map,uncertainty-agnostic framework
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