Uncertainty-Aware RL-Controlled Adaptive 3D Mapping

Excerpt

arXiv:2610.00188v1 Announce Type: new Abstract: Voxel-based volumetric mapping is fundamental to 3D reconstruction, yet fixed-resolution grids remain inherently inefficient - wasting memory in uniform regions and losing detail in complex ones. Existing adaptive methods, such as MAP-ADAPT, partially address this by varying resolution based on geometry and user-defined semantic class lists, but these heuristics require expert tuning, lack generalization to unseen objects, and provide no explicit m