Beyond Frontiers: Scene-Anomaly Guided Autonomous Exploration
Autonomous exploration of unknown 3D environments is traditionally driven by coverage-maximizing geometric heuristics. However, these methods typically determine exploration targets without considering the underlying structural context. This leads to inefficient trajectories often limiting the fidelity of the final 3D reconstruction. To bridge the gap between spatial coverage and reconstruction quality, we introduce a novel paradigm: reframing exploration as a geometric anomaly minimization problem. We present SCAGE: SCene Anomaly Guided Exploration, a novel autonomous exploration framework that operates directly on unstructured 3D point clouds. Instead of blindly chasing volumetric bound...
| Authors | Akash Kumbar, Abhinav Raundhal, Madhava Krishna |
|---|---|
| Primary category | cs.RO |
| Published | 17 July 2026 |
| Last updated at source | 17 July 2026 |
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