Beyond Frontiers: Scene-Anomaly Guided Autonomous Exploration

arXiv:2607.15828v1 Announce Type: new Abstract: 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 expl...