Web: http://arxiv.org/abs/2206.08077

June 17, 2022, 1:10 a.m. | David Hoeller, Nikita Rudin, Christopher Choy, Animashree Anandkumar, Marco Hutter

cs.LG updates on arXiv.org arxiv.org

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 neural scene representation on representation

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