外观
论文arXiv 2610.1315819 天前
面向MAV反应式避障的低延迟无地图ESDF查询
原文链接：Low-Latency Mapless ESDF Queries for MAV Reactive Collision Avoidance（arXiv 2610.13158 · 发布日期：2026-10-09）
Low-Latency Mapless ESDF Queries for MAV Reactive Collision Avoidance
提出GPU加速无地图ESDF查询，直接处理带位姿深度图，并在仿真森林和机载森林飞行中验证MAV反应式避障。
核心要点
- 未知杂乱环境中的反应式避障需在毫秒内感知障碍并修正运动。
- 方法以GPU加速ESDF查询直接作用于带位姿深度图，几乎无需预处理。
- 嵌入式GPU上较所测体素网格配置总延迟更低、精度更高且内存少。
- 集成MPC后，激光扫描森林仿真碰撞率低于最佳体素网格和无地图基线。
验证范围与局限：验证范围包括激光扫描森林仿真最高9 m/s，以及两个森林场地的机载飞行最高指令4 m/s。
英文摘要 (Abstract)
Reactive collision avoidance in unknown, cluttered environments must perceive obstacles and correct motion within milliseconds. Existing methods rely on maps for high-rate collision queries, but their acceleration structures require pre- processing. That cost is amortized in long-horizon planning, where a map serves millions of queries; reactive planning, however, is a near-field, short-horizon problem with potentially only hundreds of queries per measurement, where building a map may not pay off. We propose a mapless, Graphics Processing Unit (GPU)-accelerated Euclidean Signed Distance Field (ESDF) query with negligible pre-processing that operates directly on posed depth images, with resolution set by pooling the image rather than by a voxel size. On an embedded GPU it is simultaneously more accurate and lower in total latency than every voxel-grid configuration we measured between 2 cm and 20 cm, at one to two orders of magnitude less memory at matched resolution. With our query integrated into a Model Predictive Controller (MPC), simulated runs in laser-scanned forests at up to 9 m/s collide in 0.4 % through dense branches, against 5.9 % with the best voxel grid and 5.5 % with the best mapless baseline at our resolution, whose failures we attribute to voxel resolution and total latency respectively. We deploy the system onboard at two forest sites and fly at commanded speeds of up to 4 m/s.
作者：Leonard Freißmuth, Cedric Le Gentil, Helen Oleynikova, Stefan Leutenegger
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