SkiMap: An Efficient Mapping Framework for Robot Navigation

19 Apr 2017Daniele De GregorioLuigi Di Stefano

We present a novel mapping framework for robot navigation which features a multi-level querying system capable to obtain rapidly representations as diverse as a 3D voxel grid, a 2.5D height map and a 2D occupancy grid. These are inherently embedded into a memory and time efficient core data structure organized as a Tree of SkipLists... (read more)

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