A hybrid neural-geometric approach processes tilted LiDAR data to estimate yaw and compute safe position, enabling localization-free navigation in straight and curved tunnels.
A method for autonomous collision- free navigation of a quadrotor UA V in unknown tunnel-like environ- ments
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Neural-Geometric Tunnel Traversal: Localization-free UAV Flight with Tilted LiDARs
A hybrid neural-geometric approach processes tilted LiDAR data to estimate yaw and compute safe position, enabling localization-free navigation in straight and curved tunnels.