SOURCE-LINKED INTELLIGENCE

SHIFT: Surface-aware High-speed Integration For TSDFs

arXiv · AI, language, vision and robotics · article · Sep 6, 2026 · UTC

Real-time 3D mapping is fundamental for autonomous robotic navigation, with Euclidean Signed Distance Fields (ESDFs) serving as the standard representation for online motion planning. While recent advancements in non- projective distance fields yield highly accurate maps, their computational overhead remains a severe bottleneck. Conventional integrators redundantly re-fuse millions of depth pixels every frame, even long after the corresponding voxels have converged, wasting significant computational resources in environments dominated by large planar surfaces. In this paper, we present SHIFT (

Read original source ↗ Open in workspace

recordType

paper

region

Global