arxivcs.ROcs.CV2026-07-17
Beyond Frontiers: Scene-Anomaly Guided Autonomous Exploration
Akash Kumbar, Abhinav Raundhal, Madhava Krishna
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 ofte…