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About this paper
Tianyou Yu, Pengfei Zhao, Chao Xu
Method completes partial LiDAR maps by jointly predicting voxel occupancy and a truncated unsigned distance field. Occupancy finds an initial route, while distance values refine clearance. CrossFusion exchanges features between the prediction branches. In simulated pillar scenes, success is 88.5%, versus 84.6% for TUDF-only and 76.9% for OCC-only; results do not establish recovery in wholly unobserved regions.
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