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SGE: Semantically-Guided Exploration for Unstructured Environments via Image-Space Waypoint Sampling

arXiv · AI, language, vision and robotics · article · Aug 29, 2026 · UTC

This work introduces Semantically-Guided Exploration (SGE), a modular exploration framework for ground vehicles that integrates pixel-level semantic segmentation into sampling-based waypoint selection and receding-horizon route optimization. Unlike conventional geometric exploration methods, SGE evaluates candidate exploration goals directly in the image space using a semantic-aware utility function that accounts for terrain traversability, obstacle proximity, objects of interest, and depth-based exploration reward. Sampled waypoints are projected into 3D and ordered through a real-time Travel

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