Robo-centric ESDF: A Fast and Accurate Whole-body Collision Evaluation Tool for Any-shape Robotic Planning.
Shuang GengQianhao WangLei XieChao XuYanjun CaoFei GaoPublished in: CoRR (2023)
Keyphrases
- mission planning
- assessment tool
- shape model
- planning problems
- shape descriptors
- mixed initiative
- collision avoidance
- planning process
- shape features
- evaluation method
- robotic systems
- domain independent
- robotic tasks
- video sequences
- high quality
- real time
- collision detection
- articulated structures
- evaluation model
- software tools
- shape representation
- vector field
- computationally efficient
- high accuracy
- computer vision