HKUST-Aerial-Robotics/FIESTA - GitHub
- Euclidean Signed Distance Field (ESDF) is useful for online motion planning of aerial robots since it can easily query the distance_ and gradient information against obsta…
- The paper of this method is submitted to the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019). The draft is shown … See more
- Required Library
- •Eigen3 •PCL 1.7 •OpenCV •ROS Note: C++ 17 is required to run FIESTA. Please install and configure … See more
- Cow and lady data set can be downloaded here. A rviz will be opened with the visu…
- _For more examples, usage and FAQ, please refer to the Wiki. See more
- hlx1996 – [email protected]
- Distributed under the MIT license. See LICENSE for more inf… See more
- Prediction: 1.0.0 will be our first elegant version.
- •0.6.0
- •CHANGE: Refactor code according Google C++ Code Style
- •0.5.3 See more
浅谈Occupany Grid Map与ESDF - 知乎 - 知乎专栏
ESDF (Euclidean Signed Distance Functions)与 TEDF (Truncated Signed Distance Functions)的区别在于TEDF设定了截断的范围，而ESDF不进行截断。 ESDF的构建过程是比较耗时的，同时构建方法是比较多的。 总得来说构 …
FIESTA is a mapping system that builds global Euclidean Signed Distance Field (ESDF) map incrementally from depth measurements and pose estimations. ESDF map is useful for online …
- Author: Luxin Han, Fei Gao, Boyu Zhou, Shaojie Shen
- Publish Year: 2019
[1903.02144] FIESTA: Fast Incremental Euclidean Distance Fields for ...
Mar 6, 2019 · Fast incrementally built ESDF map is the bottleneck for conducting real-time motion planning. In this paper, we investigate this problem and propose a mapping system called …
- Author: Luxin Han, Fei Gao, Boyu Zhou, Shaojie Shen
- Cite as: arXiv:1903.02144 [cs.RO]
- Publish Year: 2019
- Subjects: Robotics (cs.RO)
GitHub - mengguanghui0113/ESDF: Fast Incremental Euclidean …
Euclidean Signed Distance Field (ESDF) is useful for online motion planning of aerial robots since it can easily query the distance_ and gradient information against obstacles. Fast …
FIESTA: Fast Incremental Euclidean Distance Fields for Online …
Fast incrementally built ESDF map is the bottleneck for conducting real-time motion planning. In this paper, we investigate this problem and propose a mapping system called FIESTA to build …
- People also ask
JaimeEden/ESDF_MAP - GitHub
This repository implements real-time local ESDF (Euclidean Signed Distance Field) mapping with dynamic updates using radar point clouds through ROS and Voxblox, specifically designed for …
Fast Planner——ESDF地图中距离计算（欧几里得距离 …
Apr 19, 2023 · 本文详细介绍了FastPlanner如何使用文献 [1]中的方法来构建ESDF地图，涉及1-D距离计算原理，包括下包络集合、抛物线交点计算等，并提供了C++伪代码。 通过在3个维度上分别应用该算法，最终计算出3D空间中每个 …
A Robust and Efficient Path Planning System Based on the Global ...
To build highly accurate global ESDF maps incrementally with small computational resources, we introduce two independent updating queues for inserting and deleting obstacles separately, as …
ESDF map of the observed scene, achieving both sufficient local details and global continuity. Results on multiple public scenes verify the high accuracy and neatness of the proposed …
- Some results have been removed
