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Spatio temporal voxel layer: Clearing voxels not seen but included in fov

asked 2020-06-25 11:45:14 -0500

hidjo gravatar image


i am trying out the spatio temporal voxel layer and it works nicely but until now I don't really understand how the clearing works. It seems like the voxels are removed after a certain time regardless if they are in the fov or not.

Which parameters influence the clearing (acceleration of voxel decay time)?

In the paper belonging to the stvl i found the equation: d(delta) = delta - 1/6 * f * delta^3 with delta is "voxel time given"? What is ment by that and why is not negative after one iteration?

Side question: If a voxel is deleted, the costmap is updated directly? (So points in the published voxel grid are always matching points in the cost map?)

Thank you for hints and help

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answered 2020-06-25 23:01:06 -0500

first off, thanks for actually reading my paper!

voxel_decay decay_acceleration and model_type are the 3 main parameters that effect the speed of clearing, if you look at the readme, I give some description of these.

If a voxel is removed, the costmap layer is updated, correct. They are always synced.

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Asked: 2020-06-25 11:45:14 -0500

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Last updated: Jun 25