How does Voxel grid works?
How does voxel grid implementation works? I need more details, cant seems to visualize it.
Is there any other object avoidance method for mobile based? Thanks in advance :D
ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
How does voxel grid implementation works? I need more details, cant seems to visualize it.
Is there any other object avoidance method for mobile based? Thanks in advance :D
More details than what? It's a 3D grid: A collection of aligned boxes: .
It can be "implemented" using a 3D array in memory, but for voxel maps one usually uses an octree.
If you want to know more about voxel mapping see the page of the octomap library, where you will also find visualizations of voxel grids/maps.
You can also use meshes to query the closest point between two meshes (one is your robot model, the other part of the environment). But as far as I know, performance-wise these are limited to low amounts of polygons, i.e., not well suitable for meshes generated from sensor data.
Raycasting. For more information about voxel mapping I recommend this publication.
Asked: 2016-06-03 06:20:48 -0500
Seen: 5,382 times
Last updated: Jun 03 '16
Navigation Stack: Obstacles detected by RGB-D Camera get cleared out when disappear from FOV
local map subtraction for moving object detection
Are there any alternatives to PCL for finding the position of an object?
Kinect colored object localization (detection)
Has anyone used GPU-voxels package in ROS?
Good way to implement object detection and pose estimation in ROS
illegal instruction voxel_grid [closed]
Can I visualize a voxel_grid on RViz?