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cs.RO2025
MonoSpheres: Large-Scale Monocular SLAM-Based UAV Exploration through Perception-Coupled Mapping and Planning
Tomáš Musil, Matěj Petrlík, Martin Saska
Autonomous exploration of unknown environments is a key capability for mobile robots, but it is largely unsolved for robots equipped with only a single monocular camera and no dens…
cs.RO2025
Kilometer-Scale GNSS-Denied UAV Navigation via Heightmap Gradients: A Winning System from the SPRIN-D Challenge
Michal Werner, David Čapek, Tomáš Musil +3
Reliable long-range flight of unmanned aerial vehicles (UAVs) in GNSS-denied environments is challenging: integrating odometry leads to drift, loop closures are unavailable in prev…