Efficient SE(3) Reachability Map Generation via Interplanar Integration of Intra-planar Convolutions
Yiheng Han Jia Pan Mengfei Xia Long Zeng Yong-Jin Liu Yiheng Han Jia Pan Mengfei Xia Long Zeng Yong-Jin Liu
Convolution has been used for fast computation of reachability maps, but it has high computational costs when performing SE(3) convolution operations for general joint arrangements in industrial robots and 3D workspace. Its application is also limited to planar robots, 2D workspace, or robots with special spatial arrangements for joints. In this paper, we find that the SE(3) convolution can be dec...