Probabilistic Active Loop Closure for Exploration
Uncertainty-aware autonomous exploration to improve mapping accuracy.
This project models loop closure as a stochastic event and uses that model to guide exploration decisions.
Main ideas:
- Formulated active loop closure as an uncertainty reduction objective over pose graphs.
- Designed exploration policies that trade off frontier coverage and loop-closure probability.
- Reduced accumulated localization uncertainty and improved mapping quality.
Related publication:
- Probabilistic Active Loop Closure for Autonomous Exploration (ICRA 2024)