2024
Active Scout: Multi-Target Tracking Using Neural Radiance Fields in Dense Urban Environments
IROS 2024poster
We study pursuit-evasion games in highly occluded urban environments, e.g. tall buildings in a city, where a scout (quadrotor) tracks multiple dynamic targets on the ground. We show that we can build a neural radiance field (NeRF) representation of the city—online—using RGB and depth images from dif…