ASEP: An Autonomous Semantic Exploration Planner With Object Labeling
Ana Milas,
Antun Ivanovic,
Tamara Petrovic
Abstract:In this paper, we present a novel 3D autonomous exploration planner called the Autonomous Semantic Exploration Planner (ASEP), designed for GPS-denied indoor environments. ASEP combines real-time mapping, exploration, navigation, object detection, and object labeling onboard an Unmanned Aerial Vehicle (UAV) with limited resources. The planner is based on a frontier exploration strategy that utilizes semantic information about the environment in the exploration policy. The policy is extended to incorporate both… Show more
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