Unsupervised Learning for Subterranean Junction Recognition Based on 2D Point Cloud

7 Jun 2020Sina Sharif MansouriFarhad Pourkamali-AnarakiMiguel Castano ArranzAli-akbar Agha-mohammadiJoel BurdickGeorge Nikolakopoulos

This article proposes a novel unsupervised learning framework for detecting the number of tunnel junctions in subterranean environments based on acquired 2D point clouds. The implementation of the framework provides valuable information for high level mission planners to navigate an aerial platform in unknown areas or robot homing missions... (read more)

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