Abstract:Accurate and efficient scene representation is crucial for robotic tasks such as motion planning, manipulation, and navigation. Signed distance functions (SDFs) have emerged as a powerful representation for encoding distance to obstacle boundaries, enabling efficient collision-checking and trajectory optimization. However, existing methods are limited for large-scale uncertainty-aware SDF estimation from streaming sensor data: voxel-based approaches have fixed resolution and lack uncertainty quantification, neural network methods require significant training time, and Gaussian process (GP) methods struggle with scalability, sign estimation, and uncertainty calibration. In this letter, we develop an open-source library, Kernel-SDF, using kernel regression to learn SDF with calibrated uncertainty in real-time. It combines a front-end learning a continuous occupancy field via kernel regression with a back-end that estimates accurate SDF via GP regression using samples from the front-end surface boundaries. Kernel-SDF provides accurate SDF, gradient, uncertainty, and mesh construction in real-time. Evaluations show it achieves superior accuracy over existing methods while maintaining real-time performance, making it suitable for robotics tasks requiring reliable uncertainty-aware geometry.
From: Zhirui Dai [view email]
[v1]
Tue, 31 Mar 2026 03:49:51 UTC (20,339 KB)
[v2]
Sat, 25 Jul 2026 22:56:22 UTC (17,652 KB)
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