Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning

11 Nov 2016Helen OleynikovaZachary TaylorMarius FehrJuan NietoRoland Siegwart

Micro Aerial Vehicles (MAVs) that operate in unstructured, unexplored environments require fast and flexible local planning, which can replan when new parts of the map are explored. Trajectory optimization methods fulfill these needs, but require obstacle distance information, which can be given by Euclidean Signed Distance Fields (ESDFs)... (read more)

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