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

Abstract

Representing the world in terms of visible surfaces and the freespace existing between these surfaces and the viewer is an important problem in robotics. For example, such a representation can be used to plan mobile robot navigation routes or manipulator paths for pick-and-place operations. Recently, researchers have proposed using the 3-D Delaunay Tessellation for representing 3-D stereo vision data and the freespace determined therefrom. We discuss problems with using the 3-D Delaunay Tessellation as the basis of the representation and propose an alternative representation that we are currently investigating. This new representation is appropriate for planning mobile robot navigation and promises to be robust when using stereo data that has errors and uncertainty.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1989
Accession Number
ADA218611

Entities

People

  • David J. Braunegg

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence
  • Autonomous Navigation
  • Collision Avoidance
  • Computer Stereo Vision
  • Geometric Forms
  • Line Of Sight
  • Military Research
  • Motion Planning
  • Navigation
  • Navigational Equipment
  • Robot Navigation
  • Robotics
  • Robots
  • Three Dimensional
  • Two Dimensional

Readers

  • Artificial Intelligence
  • Human-Computer Interaction (HCI).
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy