点群上で直接大きな凸多面体を生成する手法
Generating Large Convex Polytopes Directly on Point Clouds
点群データから球面反転を用いて障害物のない大きな凸空間をミリ秒単位で生成し、軌道計画やマッピングに応用した研究。
著者: Xingguang Zhong, Yuwei Wu, Dong Wang, Qianhao Wang, Chao Xu, Fei Gao
分類: cs.RO
原文アブストラクト
In this paper, we present a method to efficiently generate large, free, and guaranteed convex space among arbitrarily cluttered obstacles. Our method operates directly on point clouds, avoids expensive calculations, and processes thousands of points within a few milliseconds, which extremely suits embedded platforms. The base stone of our method is sphere flipping, a one-one invertible nonlinear transformation, which maps a set of unordered points to a nonlinear space. With these wrapped points, we obtain a collision-free star convex polytope. Then, utilizing the star convexity, we efficiently modify the polytope to convex and guarantee its free of obstacles. Extensive quantitative evaluations show that our method significantly outperforms state-of-the-art works in efficiency. We also present practical applications with our method in 3D, including large-scale deformable topological mapping and quadrotor optimal trajectory planning, to validate its capability and efficiency. The source code of our method will be released for the reference of the community.
