Sparse Depth Sensing for Resource-Constrained Robots

4 Mar 2017 Fangchang Ma Luca Carlone Ulas Ayaz Sertac Karaman

We consider the case in which a robot has to navigate in an unknown environment but does not have enough on-board power or payload to carry a traditional depth sensor (e.g., a 3D lidar) and thus can only acquire a few (point-wise) depth measurements. We address the following question: is it possible to reconstruct the geometry of an unknown environment using sparse and incomplete depth measurements?.. (read more)

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