OREN: Octree Residual Network for real-time Euclidean SDF mapping
rsasaki0109 · x · 2026-10-01
OREN is a hybrid SDF reconstruction framework combining gradient-augmented octree interpolation with an implicit neural residual, achieving efficient, continuous, non-truncated and highly accurate Euclidean signed distance mapping in real time. The open-source repo supports Replica and Newer College datasets, a ROS 2 mapping node, and an interactive SDF visualization GUI.
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