Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning
Xinyi Chen,Boyu Zhou,Jiarong Lin,Yichen Zhang,Fu Zhang,Shaojie Shen,Xinyi Chen,Boyu Zhou,Jiarong Lin,Yichen Zhang,Fu Zhang,Shaojie Shen
In recent years, mobile robots are becoming ambitious and deployed in large-scale scenarios. Serving as a high-level understanding of environments, a sparse skeleton graph is beneficial for more efficient global planning. Currently, existing solutions for skeleton graph generation suffer from several major limitations, including poor adaptiveness to different map representations, dependency on rob...
