UrbanFly: Uncertainty-Aware Planning for Navigation Amongst High-Rises with Monocular Visual-Inertial SLAM Maps.
Ayyappa Swamy ThatavarthySudarshan S. HarithasGurkirat SinghArun Kumar SinghK. Madhava KrishnaPublished in: CoRR (2022)
Keyphrases
- visual odometry
- visual navigation
- indoor environments
- autonomous navigation
- planning process
- mobile robot
- topological map
- visual slam
- visual information
- optical flow
- dynamic environments
- uncertain data
- decision theory
- visual sensor
- inertial sensors
- navigation systems
- visual cues
- heuristic search
- route planning
- planning systems
- partial observability
- stereo camera
- state space
- real time