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: IROS (2023)
Keyphrases
- robotic tasks
- high quality
- neural network
- articulated structures
- assessment tool
- collision free
- collision detection
- user centric
- planning problems
- real time
- mobile robot
- high accuracy
- shape model
- multi view
- three dimensional
- search algorithm
- robotic arm
- blocks world
- planning systems
- shape retrieval
- evaluation model
- motion planning
- evaluation method
- highly accurate
- robotic systems
- shape prior
- shape descriptors
- computationally efficient