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,Cesar Cadena,Lukas Schmid,Jeffrey Delmerico,Johannes L. Schönberger,Juan Nieto,Marc Pollefeys,Roland Siegwart,Cesar Cadena
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 for multi-resolution volumetric mapping in changing environments. By leveraging high-level informat...
