2022
Panoptic Multi-TSDFs: a Flexible Representation for Online Multi-resolution Volumetric Mapping and Long-term Dynamic Scene Consistency
Lukas Schmid, Jeffrey Delmerico, Johannes L. Schönberger, Juan Nieto, Marc Pollefeys, Roland Siegwart +1
ICRA 2022poster
For robotic interaction in environments shared with other agents, access to volumetric and semantic maps of the scene is crucial. However, such environments are inevitably subject to long-term changes, which the map needs to account for. We thus propose panoptic multi-TSDFs as a novel representation…