论文标题
直接在点云上生成大型凸层
Generating Large Convex Polytopes Directly on Point Clouds
论文作者
论文摘要
在本文中，我们提出了一种方法，可以在任意混乱的障碍中有效地产生大型，自由和保证的凸空间。我们的方法直接在点云上运行，避免昂贵的计算，并在几毫秒内处理数千点，这非常适合嵌入的平台。我们方法的基石是球体翻转，这是一种可逆的非线性变换，它将一组无序的点映射到非线性空间。使用这些包裹点，我们获得了无碰撞的恒星凸层。然后，利用恒星凸度，我们有效地修改了多面体以凸出并保证其没有障碍。广泛的定量评估表明，我们的方法在效率方面的最先进作用大大优于最先进的作用。我们还通过3D方法提出了实际应用，包括大规模的可变形拓扑映射和四型最佳轨迹计划，以验证其能力和效率。我们方法的源代码将发布以供社区参考。
In this paper, we present a method to efficiently generate large, free, and guaranteed convex space among arbitrarily cluttered obstacles. Our method operates directly on point clouds, avoids expensive calculations, and processes thousands of points within a few milliseconds, which extremely suits embedded platforms. The base stone of our method is sphere flipping, a one-one invertible nonlinear transformation, which maps a set of unordered points to a nonlinear space. With these wrapped points, we obtain a collision-free star convex polytope. Then, utilizing the star convexity, we efficiently modify the polytope to convex and guarantee its free of obstacles. Extensive quantitative evaluations show that our method significantly outperforms state-of-the-art works in efficiency. We also present practical applications with our method in 3D, including large-scale deformable topological mapping and quadrotor optimal trajectory planning, to validate its capability and efficiency. The source code of our method will be released for the reference of the community.
