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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.

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1

Properties of timebased local OctoMaps

Weissig, Peter 22 August 2017 (has links) (PDF)
Autonomous navigation of our rough-terrain rovers implies the need of a good representation of their near surrounding. In order to archive this we fuse several of their sensors into one representation called OctoMap. But moving obstacles can produce artefacts, leading to untraversable re- gions. Furthermore the map itself is increasing in size while discovering new places. Even though we are only interested in the near surrounding of the rovers. Our approach to these problems is the usage of timestamps within the map. If a certain region was not updated within a given interval, it will be set to free space or deleted from the map. This first option is an existing solution and the second option reflects our new alternative.
OctoMap
OcTree
Artefakte
Verblassen
Implementierung
Vergleich
OctoMap
OcTree
artefacts
decay
implementation
comparison
ddc:621.3
Oktalbaum
Artefakt
Implementierung
Vergleich
2

Properties of timebased local OctoMaps

Weissig, Peter 22 August 2017 (has links)
Autonomous navigation of our rough-terrain rovers implies the need of a good representation of their near surrounding. In order to archive this we fuse several of their sensors into one representation called OctoMap. But moving obstacles can produce artefacts, leading to untraversable re- gions. Furthermore the map itself is increasing in size while discovering new places. Even though we are only interested in the near surrounding of the rovers. Our approach to these problems is the usage of timestamps within the map. If a certain region was not updated within a given interval, it will be set to free space or deleted from the map. This first option is an existing solution and the second option reflects our new alternative.
info:eu-repo/classification/ddc/621.3
ddc:621.3

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