PiPS: Planning in Perception Space

Abstract: Explores the use of perception-space, e.g., a visual representation space, for collision checking during navigation through an unknown environment. Employing the Marr's concept of the 2.5D representation, the collision checking approach speeds up the time to collision-checking to permit low latency or real-time navigation on limited compute hardware, as well as high performance hardware.

More details will be forthcoming.