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Proceedings Paper

Real-Time Spatial Occupancy Map Generation Using Multiresolution Shadow Casting
Author(s): Bijan G. Mobasseri; W. James Adams
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Paper Abstract

Path planning comprises a significant task in robot vision problems. The issue involves navigating from point A to B, avoiding obstacles on the way and satisfying other possible optimality criteria. In this context, obstacle avoidance forms the central part of the problem. Among the many path planning algorithms, multiresolution techniques based on hierarchical tree structures, e.g. quadtrees have shown great potential [1]. The existing techniques, however, are offline, static algorithms that plan a path using a single quadtree. Such techniques are unable to cope with dynamic scenes where spatial occupancy may change. This work presents a technique whereby a quadtree-based spatial occupancy map is generated in real time, making an online path planning task feasible.

Paper Details

Date Published: 7 March 1989
PDF: 7 pages
Proc. SPIE 1005, Optics, Illumination, and Image Sensing for Machine Vision III, (7 March 1989); doi: 10.1117/12.949031
Show Author Affiliations
Bijan G. Mobasseri, Villanova University (United States)
W. James Adams, General Electric Co. (United States)

Published in SPIE Proceedings Vol. 1005:
Optics, Illumination, and Image Sensing for Machine Vision III
Donald J. Svetkoff, Editor(s)

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