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Mike Phillips did some great work on this during his internship at Willow Garage, and published the software as a ROS package: http://wiki.ros.org/3d_navigation
The wiki page doesn't mention it, but I believe internally he's doing collision checks against several 2D maps as a shortcut to full 3D collision checking.
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Mike Phillips did some great work on this during his internship at Willow Garage, and published the software as a ROS package: http://wiki.ros.org/3d_navigation
The wiki page doesn't mention it, but I believe internally he's doing collision checks against several 2D maps as a shortcut to full 3D collision checking.checking. The paper linked from the wiki page goes into much greater detail about this.
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