Victoria Plaza-Leiva, J. A. Gómez-Ruiz, F. Ababsa, A. Mandow, J. Morales, A. García-Cerezo
{"title":"Occupancy grids generation based on Geometric-Featured Voxel maps","authors":"Victoria Plaza-Leiva, J. A. Gómez-Ruiz, F. Ababsa, A. Mandow, J. Morales, A. García-Cerezo","doi":"10.1109/MED.2015.7158838","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 23rd Mediterranean Conference on Control and Automation (MED)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MED.2015.7158838","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4
Abstract
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.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
