spatio_temporal_voxel_layer
A ROS voxel layer using OpenVDB for efficient 3D environment representation with temporal decay, replacing voxel_grid for navigation.
What is spatio_temporal_voxel_layer?
Spatio-Temporal Voxel Layer (STVL) is a ROS package that provides a high-performance 3D voxel-based environment representation for robot navigation. It replaces the standard voxel_grid layer by leveraging OpenVDB for sparse volumetric storage and introducing temporal decay to handle dynamic scenes efficiently. This allows robots to use multiple depth cameras or 3D lidars with significantly lower CPU overhead while maintaining accurate costmaps.
ROS developers and robotics engineers building navigation systems for robots operating in dynamic, large-scale environments like warehouses, retail stores, or factories, especially those using RGBD cameras or 3D lidars.
Developers choose STVL for its dramatic performance improvements over the standard voxel layer, its ability to handle dense 3D sensor data in real-time, and its intelligent temporal decay mechanism that adapts costmaps to changing environments without manual tuning.
Overview
A new voxel layer leveraging modern 3D graphics tools to modernize navigation environmental representations
Use Cases
Best For
- Reducing CPU load when using multiple RGBD cameras for navigation
Related Projects
Found a gem we're missing?
Open-Awesome is built by the community, for the community. Submit a project, suggest an awesome list, or help improve the catalog on GitHub.
