Return to search

An Alternative to Using the 3D Delaunay Tessellation for Representing Freespace

Representing the world in terms of visible surfaces and the freespacesexisting between these surfaces and the viewer is an important problemsin robotics. Recently, researchers have proposed using the 3DsDelaunay Tessellation for representing 3D stereo vision data and thesfreespace determined therefrom. We discuss problems with using thes3D Delaunay Tessellation as the basis of the representation andspropose an alternative representation that we are currentlysinvestigating. This new representation is appropriate for planningsmobile robot navigation and promises to be robust when using stereosdata that has errors and uncertainty.

Identiferoai:union.ndltd.org:MIT/oai:dspace.mit.edu:1721.1/6007
Date01 September 1989
CreatorsBraunegg, David J.
Source SetsM.I.T. Theses and Dissertation
Languageen_US
Detected LanguageEnglish
Format12 p., 1029884 bytes, 802944 bytes, application/postscript, application/pdf
RelationAIM-1185

Page generated in 0.002 seconds