Enhancing Exploration Algorithms for Navigation with Visual SLAM

Authors

Yakovlev K. ,  Muravyov K. ,  Bokovoy A.

Annotation

Exploration is an important step in autonomous navigation of robotic systems. In this paper we introduce a series of enhancements for exploration algorithms in order to use them with vision-based simultaneous localization and mapping (vSLAM) methods. We evaluate developed approaches in photo-realistic simulator in two modes: with ground-truth depths and neural network reconstructed depth maps as vSLAM input. We evaluate standard metrics in order to estimate exploration coverage.

External links

DOI: 10.1007/978-3-030-86855-0_14

PDF at arXiv.org: https://arxiv.org/pdf/2110.09156

Microsoft Academic: https://academic.microsoft.com/paper/3203516484/

ResearchGate: https://www.researchgate.net/publication/355051573_Enhancing_Exploration_Algorithms_for_Navigation_with_Visual_SLAM

Semantic Scholar: https://api.semanticscholar.org/CorpusID:238417375