跳转至

建图

约 66 个字

Map=Data Structure + Fusion Method

Occupancy grid map

  • Most Dense
  • Structural
  • Direct Index Query

ANYbotics/grid_map

Octo-map

  • Sparse
  • Structural
  • Indirect Index Query

https://octomap.github.io/

Voxel hashing

  • Most Sparse
  • Structural
  • Indirect Index Query

niessner/VoxelHashing

http://www.robots.ox.ac.uk/~victor/infinitam/

Point cloud map

• Un-ordered • No Index Query

image-20241102204708574

Free-space Roadmap

TSDFmap

Truncated Signed Distance Functions

OpenChisel

personalrobotics/OpenChisel

欧式符号距离场（ESDF）

Euclidean Signed Distance Functions Incremental Update, Global Map