Question about multi-stage hierarchical sampling on occupancy grids

[vincenthesiyuan]

Hi,
Thanks your great works!!

I am so curious for this problem. Because ray marching is performed on occupancy grid, and there may be situations where the intervals are discontinuous due to space skipping. I noticed that in the upsampling stage, pack_diff op is applied directly to operate every ray without considering the impact of discontinuous intervals.

Have you ever tried extending the pack ops to handle the discontinuous intervals on the ray as well? I am very curious if this approach might yield better results. Would not addressing this issue have a significant impact?