NanoMap：基于局部3D数据惰性搜索的快速、不确定性感知的邻近搜索
NanoMap: Fast, Uncertainty-Aware Proximity Queries with Lazy Search over Local 3D Data
摘要：
我们希望机器人能够安全地高速导航，有效地使用本地3D信息，并鲁棒地计划考虑局部地图结构中测量的姿势不确定性的运动。这是很难做到与以前现有的映射方法，如占用网格，重点是逐步融合3D数据到一个共同的世界框架。特别地，它们对状态估计误差的脆弱敏感性和计算成本都是有限的。我们开发了一个替代框架，NanoMap，它强调了全球地图融合的需要，并使运动规划器能够有效地查询姿态不确定性感知的局部3D几何信息。NanoMap的关键思想是存储有噪声的相对姿态变换的历史，并在相应的一组深度传感器测量中搜索空间中查询点的最小不确定性视图。该方法提供了传统映射技术所不提供的各种能力：（a）与3D数据相关联的姿态不确定性可以被并入运动规划中，（b）姿态可以被更新（即，从循环闭合），以最小的计算工作量，和（c）3D数据可以融合懒惰的规划的目的。我们提供了一个开源的实现NanoMap，并分析其功能和计算效率在模拟实验。最后，我们在硬件上证明了其有效性，快速三维避障机载四旋翼飞行速度高达10米/秒。
英文摘要：
We would like robots to be able to safely navigate at high speed, efficiently use local 3D information, and robustly plan motions that consider pose uncertainty of measurements in a local map structure. This is hard to do with previously existing mapping approaches, like occupancy grids, that are focused on incrementally fusing 3D data into a common world frame. In particular, both their fragile sensitivity to state estimation errors and computational cost can be limiting. We develop an alternative framework, NanoMap, which alleviates the need for global map fusion and enables a motion planner to efficiently query pose-uncertainty-aware local 3D geometric information. The key idea of NanoMap is to store a history of noisy relative pose transforms and search over a corresponding set of depth sensor measurements for the minimum-uncertainty view of a queried point in space. This approach affords a variety of capabilities not offered by traditional mapping techniques: (a) the pose uncertainty associated with 3D data can be incorporated in motion planning, (b) poses can be updated (i.e., from loop closures) with minimal computational effort, and (c) 3D data can be fused lazily for the purpose of planning. We provide an open-source implementation of NanoMap, and analyze its capabilities and computational efficiency in simulation experiments. Finally, we demonstrate in hardware its effectiveness for fast 3D obstacle avoidance onboard a quadrotor flying up to 10 m/s.
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