SSC Exploration

This repository will contain the code for SC-Explorer, our framework for incremental fusion of 3D semantic scene completion and safe and efficient integration thereof into mobile robotic mapping and planning for exploration.

Incremental 3D scene completion for safe and efficient exploration mapping and planning.

Table of Contents

Credits

• Paper

Note The code is not yet available, but will be released here shortly.

Setup

• Installation

Examples

• Training the Model
• Running the Planner
• Evaluating and Experiment

Paper

If you find this useful for your research, please consider citing our paper:

• Lukas Schmid, Mansoor Nasir Cheema, Victor Reijgwart, Roland Siegwart, Federico Tombari, and Cesar Cadena, "SC-Explorer: Incremental 3D Scene Completion for Safe and Efficient Exploration Mapping and Planning" in ArXiv Preprint, 2022. [ ArXiv ]

  @inproceedings{schmid2022scexplorer,
    title={SC-Explorer: Incremental 3D Scene Completion for Safe and Efficient Exploration Mapping and Planning},
    author={Schmid, Lukas and Cheema, Mansoor Nasir and Reijgwart, Victor and Siegwart, Roland and Tombari, Federico and Cadena, Cesar},
    booktitle={ArXiv Preprint},
    year={2022},
    volume={},
    number={},
    pages={},
    doi={10.48550/arXiv.2208.08307}
  }