OREN open-sourced: octree + neural residual for real-time SDF mapping with ROS 2 support
rsasaki0109 · x · 2026-10-01
ExistentialRobotics open-sourced OREN, a hybrid SDF reconstruction framework combining gradient-augmented octree interpolation with implicit neural residuals for efficient, accurate real-time Euclidean signed distance mapping. The repo includes trainers for Replica and Newer College datasets, a ROS 2 mapping node for live rosbags and sensor streams, an interactive GUI visualizing SDF slices and octree structure, and Docker support (tested on Ubuntu 24.04, CUDA 12.8/13.2).
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