How Does ESDF Generation Work?

Description of the algorithm

The algorithm id described in this paper:

Helen Oleynikova, Zachary Taylor, Marius Fehr, Juan Nieto, and Roland Siegwart, “Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

@inproceedings{oleynikova2017voxblox,
  author={Oleynikova, Helen and Taylor, Zachary and Fehr, Marius and Siegwart, Roland and  Nieto, Juan},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  title={Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning},
  year={2017}
}

We have some system flowcharts below to make it easier to understand the general flow of data.

How TSDF values are propagated to ESDF

How the Raise Wavefront works

How the Lower Wavefront works