An OctoMap-based 3D CostMap

Withey, D. J.; Matebese, B. T.

Abstract

The development of OctoMap created an efficient, discrete, three-dimensional (3D) mapping framework that has been very useful in autonomous robotics for representing occupied and free space in the robot's environment. This paper presents an OctoMap-based CostMap, with cell classifications to represent obstacle safety zones, exploration frontiers, and WiFi status, by rebranding free space with this information. The CostMap inherits OctoMap features, including efficient memory usage, and parent cells retain the set of cell types for all child cells, allowing efficient searching. Applications include aerial vehicle path planning. CostMap formation and an example in 3D motion planning are given.

Citation

Withey, D. J., & Matebese, B. T. (2022). An OctoMap-based 3D CostMap. In 2021 Rapid Product Development Association of South Africa - Robotics and Mechatronics - Pattern Recognition Association of South Africa (RAPDASA-RobMech-PRASA). https://doi.org/10.1109/RAPDASA-RobMech-PRAS53819.2021.9829092

• Conference Name: 2021 Rapid Product Development Association of South Africa - Robotics and Mechatronics - Pattern Recognition Association of South Africa: Digital Manufacturing: Industrialising Africa, RAPDASA-RobMech-PRASA 2021
• Conference Location: South Africa
• Start Date: Nov 3, 2021
• End Date: Nov 5, 2021
• Acceptance Date: Jul 26, 2021
• Publication Date: Jul 22, 2022
• Deposit Date: Jan 11, 2023
• Publicly Available Date: Jul 23, 2024
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• Book Title: 2021 Rapid Product Development Association of South Africa - Robotics and Mechatronics - Pattern Recognition Association of South Africa (RAPDASA-RobMech-PRASA)
• ISBN: 978-1-6654-0804-2
• DOI: https://doi.org/10.1109/RAPDASA-RobMech-PRAS53819.2021.9829092
• Keywords: Three-dimensional displays, Smoothing methods, Memory management, Path planning, Product development, Safety, Planning, OctoMap, cost map, path planning, robotics
• Public URL: https://uwe-repository.worktribe.com/output/10336804
• Publisher URL: https://ieeexplore.ieee.org/document/9829092
• Related Public URLs: https://ieeexplore.ieee.org/xpl/conhome/9829017/proceeding