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Proceedings Paper

Tessellated structure from motion for midrange perception and tactical planning
Author(s): Minbo Shim; Samson Yilma
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Paper Abstract

A typical structure from motion (SFM) technique is to construct 3-D structures from the observation of the motions of salient features tracked over time. Although the sparse feature-based SFM provides additional solutions to robotic platforms as a tool to augment navigation performance, the technique often fails to produce dense 3-D structures due to the sparseness that is introduced during the feature selection and matching processes. For midrange sensing and tactical planning, it is important to have a dense map that is able to provide not only 3-D coordinates of features, but also clustered terrain information around the features for better thematic representation of the scene. In order to overcome the shortfalls embedded in the sparse feature-based SFM, we propose an approach that uses Voronoi decomposition with an equidistance-based triangulation that is applied to each of segmented and classified regions. The set of the circumcenters of the circum-hyperspheres used in the triangulation is formed with the feature points extracted from the SFM processing. We also apply flat surface detection to find traversable surface for a robotic vehicle to be able to maneuver safely on.

Paper Details

Date Published: 30 April 2009
PDF: 10 pages
Proc. SPIE 7332, Unmanned Systems Technology XI, 733214 (30 April 2009); doi: 10.1117/12.818959
Show Author Affiliations
Minbo Shim, General Dynamics Robotic Systems (United States)
Samson Yilma, General Dynamics Robotic Systems (United States)

Published in SPIE Proceedings Vol. 7332:
Unmanned Systems Technology XI
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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