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simmediumroboticsmetric · varies
Kernel-SDF: An Open-Source Library for Real-Time Signed Distance Function Estimation using Kernel Regression
Description
Accurate and efficient environment representation is crucial for robotic applications such as motion planning, manipulation, and navigation. Signed distance functions (SDFs) have emerged as a powerful representation for encoding distance to obstacle boundaries, enabling efficient collision-checking and trajectory optimization techniques. However, existing SDF reconstruction methods have limitations when it comes to large-scale uncertainty-aware SDF estimation from streaming sensor data. Voxel-ba