3 accepted papers
We demonstrate real-time overhead aerial metric-semantic mapping and exploration using a monocular camera paired with a global positioning system (GPS). Our system, named HALO, addresses two key challenges: (i) real-time dense 3D reconstruction using vision at large distances, and (ii) mapping and e
We propose a framework for active mapping and exploration that leverages Gaussian splatting for constructing dense maps. Further, we develop a GPU-accelerated motion planning algorithm that can exploit the Gaussian map for real-time navigation. The Gaussian map constructed onboard the robot is optim…
We propose a framework for active mapping and exploration that leverages Gaussian splatting for constructing dense maps. Further, we develop a GPU-accelerated motion planning algorithm that can exploit the Gaussian map for real-time navigation. The Gaussian map constructed onboard the robot is optim