Local World Model

Local world models give the local planner a fast, short-range obstacle representation built directly from sensor data — cheaper and lower-latency than the global map, at the cost of limited spatial extent. AirStack's local world model is disparity-based:

• Disparity Expansion — C-space expansion of stereo disparity images by the robot radius
• Disparity Graph — rolling window of expanded-disparity keyframes with their camera poses
• Disparity Graph Cost Map — cost-map plugin answering collision-cost queries for the DROAN local planner

The GPU planner droan_gl performs the expansion and graph internally on the GPU; the CPU pipeline uses these packages as separate nodes.