CATNIPS: ニューラル暗黙的確率シーンによる衝突回避
CATNIPS: Collision Avoidance Through Neural Implicit Probabilistic Scenes
NeRFをポアソン点過程に変換して不確実性を厳密に評価し、衝突確率を保証する軌道最適化手法を提案した。
著者: Timothy Chen, Preston Culbertson, Mac Schwager
分類: cs.RO
原文アブストラクト
We introduce a transformation of a Neural Radiance Field (NeRF) to an equivalent Poisson Point Process (PPP). This PPP transformation allows for rigorous quantification of uncertainty in NeRFs, in particular, for computing collision probabilities for a robot navigating through a NeRF environment. The PPP is a generalization of a probabilistic occupancy grid to the continuous volume and is fundamental to the volumetric ray-tracing model underlying radiance fields. Building upon this PPP representation, we present a chance-constrained trajectory optimization method for safe robot navigation in NeRFs. Our method relies on a voxel representation called the Probabilistic Unsafe Robot Region (PURR) that spatially fuses the chance constraint with the NeRF model to facilitate fast trajectory optimization. We then combine a graph-based search with a spline-based trajectory optimization to yield robot trajectories through the NeRF that are guaranteed to satisfy a user-specific collision probability. We validate our chance constrained planning method through simulations and hardware experiments, showing superior performance compared to prior works on trajectory planning in NeRF environments. Our codebase can be found at https://github.com/chengine/catnips, and videos can be found on our project page (https://chengine.github.io/catnips).
