We present an algorithm for interpolating the visible portions of a point loud
that are sampled from opaque objects in the environment. Our algorithm projects point
clouds onto a sphere entered at the observing location and performs essentially
non-oscillatory (ENO) interpolation of the projected data. Curvatures of the occluding objects
can be approximated and used in many ways. We demonstrate how our visibility formulation
can be incorporated into novel algorithms for mapping unknown environments with single or
multiple observers, and target finding problems. A convergence proof is provided
indicating suitability of our algorithm for some canonical types of environments. Various
postprocessing optimization techniques are considered to obtain a
more uniform exposure of the region along the path.
Publié le : 2008-12-15
Classification:
Visibility,
interpolation,
point louds,
path planning,
65D18,
68W05,
68T40,
68T45
@article{1229619675,
author = {Landa, Y. and Tsai, R.},
title = {Visibility of point clouds and exploratory path planning in unkown environments},
journal = {Commun. Math. Sci.},
volume = {6},
number = {1},
year = {2008},
pages = { 881-913},
language = {en},
url = {http://dml.mathdoc.fr/item/1229619675}
}
Landa, Y.; Tsai, R. Visibility of point clouds and exploratory path planning in unkown environments. Commun. Math. Sci., Tome 6 (2008) no. 1, pp. 881-913. http://gdmltest.u-ga.fr/item/1229619675/