AtomMap: A probabilistic amorphous 3D map representation for robotics and surface reconstruction

@article{FridovichKeil2017AtomMapAP,
  title={AtomMap: A probabilistic amorphous 3D map representation for robotics and surface reconstruction},
  author={David Fridovich-Keil and Erik Nelson and Avideh Zakhor},
  journal={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2017},
  pages={3110-3117}
}
We present a new 3D probabilistic occupancy map representation for robotics applications by relaxing the commonly-assumed constraint that space must be perfectly tessellated. We replace the regular structure of 3D grids with an unstructured collection of non-overlapping, equally-sized spheres, which we call “atoms”. Abandoning the grid structure allows a more accurate representation of space directly tangent to surfaces, which facilitates a number of applications such as high fidelity surface… 

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