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- W2609986281 abstract "We present a novel mapping framework for robot navigation which features a multi-level querying system capable to obtain rapidly representations as diverse as a 3D voxel grid, a 2.5D height map and a 2D occupancy grid. These are inherently embedded into a memory and time efficient core data structure organized as a Tree of SkipLists. Compared to the well-known Octree representation, our approach exhibits a better time efficiency, thanks to its simple and highly parallelizable computational structure, and a similar memory footprint when mapping large workspaces. Peculiarly within the realm of mapping for robot navigation, our framework supports realtime erosion and re-integration of measurements upon reception of optimized poses from the sensor tracker, so as to improve continuously the accuracy of the map." @default.
- W2609986281 created "2017-05-05" @default.
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- W2609986281 date "2017-04-19" @default.
- W2609986281 modified "2023-09-27" @default.
- W2609986281 title "SkiMap: An Efficient Mapping Framework for Robot Navigation" @default.
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