Looking Forward: A Semantic Mapping System for Scouting with Micro-Aerial Vehicles

Our ultimate goal is to enable MAVs to perform autonomous scouting. In this paper, we describe a semantic mapping system designed to support this goal. The system maintains a 2.5D map describing its belief about the location of semantic classes of interest, using forward-looking cameras and state estimation.

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本文档是卡耐基梅隆大学机器人研究所的技术论文。

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