using NanoMap for motion planning in an autonomous drone

[CruxDevStuff]

Hey! I'm looking to use NanoMap for motion planning on my autonomous drone. Currently I'm using octomap and its incredibly slow. All the code runs onboard a Xavier NX 8GB. The primary sensor is a stereo camera and depth is estimated using a neural network.

Do you have any examples of using NanoMap for motion planning or retrieving signed distance fields ?

[ViWalkerDev]

Hi there,

I am currently in the middle of development of additional features for motion planning and map solving using nanomap. They aren’t ready for release currently but should be some time soon. Hopefully they provide the functionality you are looking for.

On Tue, 29 Nov 2022 at 8:32 pm, Crux @.***> wrote:

Hey! I'm looking to use NanoMap for motion planning on my autonomous drone. Currently I'm using octomap and its incredibly slow. All the code runs onboard a Xavier NX 8GB. The primary sensor is a stereo camera and depth is estimated using a neural network.

Do you have any examples of using NanoMap for motion planning or retrieving signed distance fields ?

— Reply to this email directly, view it on GitHub https://github.com/ViWalkerDev/NanoMap/issues/1, or unsubscribe https://github.com/notifications/unsubscribe-auth/A2ZIVHUIQPRQQJPAUCIDKQTWKXLTHANCNFSM6AAAAAASOKBSDA . You are receiving this because you are subscribed to this thread.Message ID: @.***>

[ViWalkerDev]

However,

Retrieving the signed distance field of the grid may be possible using the openvdb api to allow you to plan using your current methods. Once the grid is created it can be interacted with using the existing openvdb api.

I’m not sure if this would provide the kind of information you need for your motion planning needs:

https://www.openvdb.org/documentation/doxygen/TopologyToLevelSet_8h.html

Good luck!

On Thu, 1 Dec 2022 at 7:21 am, Violet Walker @.***> wrote:

Hi there,

I am currently in the middle of development of additional features for motion planning and map solving using nanomap. They aren’t ready for release currently but should be some time soon. Hopefully they provide the functionality you are looking for.

On Tue, 29 Nov 2022 at 8:32 pm, Crux @.***> wrote:

Hey! I'm looking to use NanoMap for motion planning on my autonomous drone. Currently I'm using octomap and its incredibly slow. All the code runs onboard a Xavier NX 8GB. The primary sensor is a stereo camera and depth is estimated using a neural network.

Do you have any examples of using NanoMap for motion planning or retrieving signed distance fields ?

— Reply to this email directly, view it on GitHub https://github.com/ViWalkerDev/NanoMap/issues/1, or unsubscribe https://github.com/notifications/unsubscribe-auth/A2ZIVHUIQPRQQJPAUCIDKQTWKXLTHANCNFSM6AAAAAASOKBSDA . You are receiving this because you are subscribed to this thread.Message ID: @.***>