Occupancy grids generation based on Geometric-Featured Voxel maps
| Autor: | Fakhreddine Ababsa, Anthony Mandow, Alfonso García-Cerezo, Victoria Plaza-Leiva, Jose Antonio Gomez-Ruiz, Jesus Morales |
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| Přispěvatelé: | Universidad de Málaga [Málaga] = University of Málaga [Málaga], Informatique, Biologie Intégrative et Systèmes Complexes (IBISC), Université d'Évry-Val-d'Essonne (UEVE) |
| Rok vydání: | 2015 |
| Předmět: |
Occupancy grid mapping
Relation (database) Occupancy traversability map business.industry Computer science Feature extraction Point cloud computer.software_genre Occupancy grid 3D point cloud voxel map Planar Voxel laser scan Navigability Computer vision Artificial intelligence business autonomous navigation [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing computer |
| Zdroj: | MED 23rd Mediterranean Conference on Control and Automation (MED 2015) 23rd Mediterranean Conference on Control and Automation (MED 2015), Jun 2015, Torremolinos, Spain. pp.766--771, ⟨10.1109/MED.2015.7158838⟩ |
| DOI: | 10.1109/med.2015.7158838 |
| Popis: | International audience; Navigability assessment is useful for planning obstacles free trajectories in autonomous navigation tasks in 3D environments. Based on Geometric-Featured Voxel (GFV) maps developed in previous works, this paper proposes a method for 2D occupancy grid generation which is efficient for local navigation in natural environments. Built from a point cloud, a GFV map consists of voxels that are classified as tubular, planar, or scatter depending on the local spatial distribution of their inner points. Besides, each voxel is labelled as ground or non-ground considering slopes and rough surfaces found in unstructured scenarios. The proposed 2D occupancy grid represents accessible areas by considering the attributes and the height of each voxel over the ground level in relation to vehicle dimensions. The paper presents experimental results with 3D laser scans in natural environments. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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