Implementing ESDF Mapping with VINS
Summary
In this work, pointcloud data from the Realsense D455 camera and odometry from VINS estimator module are fed as inputs to the Voxfield mapping framework. Occupancy and ESDF maps are shown in visualization.
Work Pipeline
Results
Output of VINS estimator:
ESDF map for a small region:
Occupancy map of the lab while implementing VINS:
Video Results:
Shiva Rudra Lolla
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