Efficient Multiresolution Scrolling Grid for Stereo Vision-based MAV Obstacle Avoidance
Eric Dexheimer,Joshua G. Mangelson,Sebastian Scherer,Michael Kaess,Eric Dexheimer,Joshua G. Mangelson,Sebastian Scherer,Michael Kaess
Fast, aerial navigation in cluttered environments requires a suitable map representation for path planning. In this paper, we propose the use of an efficient, structured multiresolution representation that expands the sensor range of dense local grids for memory-constrained platforms. While similar data structures have been proposed, we avoid processing redundant occupancy information and use the ...
