NanoMap: Fast, Uncertainty-Aware Proximity Queries with Lazy Search over Local 3D Data

@article{Florence2017NanoMapFU,
  title={NanoMap: Fast, Uncertainty-Aware Proximity Queries with Lazy Search over Local 3D Data},
  author={Peter R. Florence and John Carter and Jake Ware and Russ Tedrake},
  journal={CoRR},
  year={2017},
  volume={abs/1802.09076}
}
We would like robots to be able to safely navigate at high speed, efficiently use local 3D information, and robustly plan motions that consider pose uncertainty of measurements in a local map structure. This is hard to do with previously existing mapping approaches, like occupancy grids, that are focused on incrementally fusing 3D data into a common world… CONTINUE READING