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ahq1993 / MPNet

Motion Planning Networks
MIT License
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What is the point cloud data given to the network? #12

Closed rajathkmanjunath closed 4 years ago

rajathkmanjunath commented 4 years ago

Hi Ahmed,

I think you have done a great job in the field of Path Planning. I read your paper and was wondering what was the point cloud data that was fed to the ENet. was it the point cloud data from a sensor at the end effector or any other position or is it the point cloud data that you generate for a known environment. You don't talk about the details of the data in the paper. what kind of data did point cloud data did you use?

ahq1993 commented 4 years ago

In the case of simple 2D, complex 2D/3D, and rigid body, we create a point-cloud by sampling the obstacle space from a known environment. In the case of Baxter, the point-cloud is from a depth sensor. You can further process your point-cloud into voxel and use 3D-CNN for encoding.