论文标题
多分辨率3D映射，具有明确的自由空间表示形式，以快速准确的移动机器人运动计划
Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning
论文作者
论文摘要
为了弥合高质量重建和移动机器人运动计划之间的差距，我们提出了一个有效的系统，该系统利用自适应分辨率体积映射的概念，该映射自然地与OCTREE数据结构中空间的层次结构分解。我们采用了log-odds表示中的占用概率的映射，而不是截短的签名距离函数（TSDF），该示意图允许表示两个表面以及整个自由的表面，即观察到的空间，而不是未观察到的空间。我们介绍了一种通过多尺度的最大值池进行输入深度图像实时选择分辨率的方法。显式的自由空间映射的概念与数据结构中的空间层次结构配对，以及MAP分辨率，可以根据需要以前所未有的速度进行机器人运动计划的碰撞查询。我们定量评估映射准确性，内存，运行时性能和计划性能，显示对最新技术的改进，尤其是在需要高分辨率地图的情况下。
With the aim of bridging the gap between high quality reconstruction and mobile robot motion planning, we propose an efficient system that leverages the concept of adaptive-resolution volumetric mapping, which naturally integrates with the hierarchical decomposition of space in an octree data structure. Instead of a Truncated Signed Distance Function (TSDF), we adopt mapping of occupancy probabilities in log-odds representation, which allows to represent both surfaces, as well as the entire free, i.e. observed space, as opposed to unobserved space. We introduce a method for choosing resolution -- on the fly -- in real-time by means of a multi-scale max-min pooling of the input depth image. The notion of explicit free space mapping paired with the spatial hierarchy in the data structure, as well as map resolution, allows for collision queries, as needed for robot motion planning, at unprecedented speed. We quantitatively evaluate mapping accuracy, memory, runtime performance, and planning performance showing improvements over the state of the art, particularly in cases requiring high resolution maps.
