Jul 2026
From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for UAVs
An Octree REsidual Network (OREN) is developed that pairs an explicit octree prior with an implicit neural residual to reconstruct SDFs online from point cloud observations with the efficiency of volumetric methods and the accuracy and differentiability of neural methods.
Jason Stanley, Zhi-Rui Dai, Qi-Hao Qian et al.
· arXiv.org · 0 citations