Voxgraph: Globally Consistent, Volumetric Mapping using Signed Distance Function Submaps

27 Apr 2020 Reijgwart Victor Millane Alexander Oleynikova Helen Siegwart Roland Cadena Cesar Nieto Juan

Globally consistent dense maps are a key requirement for long-term robot navigation in complex environments. While previous works have addressed the challenges of dense mapping and global consistency, most require more computational resources than may be available on-board small robots... (read more)

PDF Abstract