Steve Macenski (Simbe Robotics)
We introduce the Spatio-Temporal Voxel Grid and accompanying costmap_2d plugin, Spatio-Temporal Voxel Layer (STVL) , for the ROS Navigation Stack. It is implemented as a drop-in replacement for the current VoxelLayer plugin. STVL brings several improvements over the existing VoxelLayer including improved voxel grid representation, Spatio-Temporal based voxel clearing rather than Bresenham’s-based clearing, and lower computational burdens to run on low-powered computers effectively. This package was built for perception in retail, warehouse, and outdoor robot applications, though effective out of those scopes. This talk will go over key points of STVL, demonstrations in production environments, and how to enable it in your application.