Generating Large Convex Polytopes Directly on Point Clouds

Understand

In this paper, we present a method to efficiently generate large, free, and guaranteed convex space among arbitrarily cluttered obstacles.

• Our method operates directly on point clouds, avoids expensive calculations, and processes thousands of points within a few milliseconds, which extremely suits embedded platforms.
• The base stone of our method is sphere flipping, a one-one invertible nonlinear transformation, which maps a set of unordered points to a nonlinear space.
• With these wrapped points, we obtain a collision-free star convex polytope.