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@unpublished{Funk:2020,
author = {Funk, N and Tarrio, J and Papatheodorou, S and Popovic, M and Alcantarilla, PF and Leutenegger, S},
publisher = {arXiv},
title = {Multi-resolution 3D mapping with explicit free space representation for fast and accurate mobile robot motion planning},
url = {http://arxiv.org/abs/2010.07929v3},
year = {2020}
}

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TY  - UNPB
AB  - With the aim of bridging the gap between high quality reconstruction andmobile robot motion planning, we propose an efficient system that leverages theconcept of adaptive-resolution volumetric mapping, which naturally integrateswith the hierarchical decomposition of space in an octree data structure.Instead of a Truncated Signed Distance Function (TSDF), we adopt mapping ofoccupancy probabilities in log-odds representation, which allows to representboth surfaces, as well as the entire free, i.e. observed space, as opposed tounobserved 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 depthimage. The notion of explicit free space mapping paired with the spatialhierarchy in the data structure, as well as map resolution, allows forcollision queries, as needed for robot motion planning, at unprecedented speed.We quantitatively evaluate mapping accuracy, memory, runtime performance, andplanning performance showing improvements over the state of the art,particularly in cases requiring high resolution maps.
AU  - Funk,N
AU  - Tarrio,J
AU  - Papatheodorou,S
AU  - Popovic,M
AU  - Alcantarilla,PF
AU  - Leutenegger,S
PB  - arXiv
PY  - 2020///
TI  - Multi-resolution 3D mapping with explicit free space representation for fast and accurate mobile robot motion planning
UR  - http://arxiv.org/abs/2010.07929v3
UR  - http://hdl.handle.net/10044/1/83885
ER  -

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