HVOFusion: Incremental Mesh Reconstruction Using Hybrid Voxel Octree

arXiv:2404.17974v1 Announce Type: cross
Abstract: Incremental scene reconstruction is essential to the navigation in robotics. Most of the conventional methods typically make use of either TSDF (truncated signed distance functions) volume or neural networks to implicitly represent the surface. Due to the voxel representation or involving with time-consuming sampling, they have difficulty in balancing speed, memory storage, and surface quality. In this paper, we propose a novel hybrid voxel-octree approach to effectively fuse octree with voxel structures so that we …

abstract arxiv cs.cv cs.ro functions hybrid incremental mesh navigation networks neural networks representation robotics sampling surface type voxel