Collision-Affording Point Trees: SIMD-Amenable Nearest Neighbors for Fast Collision Checking

arXiv:2406.02807 · cs.RO · Submitted 2024-06-04 · Read on arXiv

cs.RO

Submitted: 2024-06-04

Updated: 2024-06-04

Code: https://github.com/kavrakilab/vamp

Terminology

• Point Clouds — 23× in this paper · explained in 2 episodes
• Affordance — 22× in this paper · explained in 1 episode
• Core — 5× in this paper · explained in 2 episodes
• Benchmark — 4× in this paper · explained in 2 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• ACM Transactions on Graphics — 1× in this paper
• Generalization — 1× in this paper · explained in 13 episodes
• Optimal Transport — 1× in this paper · explained in 5 episodes
• Point Cloud Data — 1× in this paper · explained in 2 episodes

Sources

• RAMP: Hierarchical Reactive Motion Planning for Manipulation Tasks Using Implicit Signed Distance Functions
• nvblox: GPU-Accelerated Incremental Signed Distance Field Mapping
• CATNIPS: Collision Avoidance Through Neural Implicit Probabilistic Scenes

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