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Fig. 1: Overview: Accurate gradient and distance to closest obstacles cannot be extracted from uncertain voxel grid representation built from noisy sensors. Fig.(a) illustrates this effect, wherein the gradient at a given point can be in any one of the directions shown by arrows.Similarly, the distribution of distance is shown as a confidence interval band. The noisy gradients and distance estimation tend to guide the trajectory towards the obstacle leading to a collision as shown in (b) (the collision is highlighted by a white circle) . We propose CCO-VOXEL, a method that accounts for the uncertainty in the distance measurements and obtains an optimal solution through a gradient free Cross Entropy Minimization technique resulting in a safe and optimal trajectories as shown in (c).

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