Neural Scene Representation for Locomotion on Structured Terrain. (arXiv:2206.08077v1 [cs.RO])

We propose a learning-based method to reconstruct the local terrain for
locomotion with a mobile robot traversing urban environments. Using a stream of
depth measurements from the onboard cameras and the robot's trajectory, the
algorithm estimates the topography in the robot's vicinity. The raw
measurements from these cameras are noisy and only provide partial and occluded
observations that in many cases do not show the terrain the robot stands on.
Therefore, we propose a 3D reconstruction model that faithfully reconstructs …

arxiv neural scene representation representation