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Author
Miguel Oliveira
;
Vítor Santos
;
Angel D. Sappa
;
Paulo Dias
;
A. Paulo Moreira
Title
Incremental Scenario Representations for Autonomous Driving using Geometric Polygonal Primitives
Type
Journal Article
Year
2016
Publication
Robotics and Autonomous Systems Journal
Abbreviated Journal
Volume
Vol. 83
Issue
Pages
pp. 312-325
Keywords
Incremental scene reconstructionPoint cloudsAutonomous vehiclesPolygonal primitives
Abstract
When an autonomous vehicle is traveling through some scenario it receives a continuous stream of sensor data. This sensor data arrives in an asynchronous fashion and often contains overlapping or redundant information. Thus, it is not trivial how a representation of the environment observed by the vehicle can be created and updated over time. This paper presents a novel methodology to compute an incremental 3D representation of a scenario from 3D range measurements. We propose to use macro scale polygonal primitives to model the scenario. This means that the representation of the scene is given as a list of large scale polygons that describe the geometric structure of the environment. Furthermore, we propose mechanisms designed to update the geometric polygonal primitives over time whenever fresh sensor data is collected. Results show that the approach is capable of producing accurate descriptions of the scene, and that it is computationally very efficient when compared to other reconstruction techniques.
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Language
English
Summary Language
English
Original Title
Series Editor
Series Title
Abbreviated Series Title
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Series Issue
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ISBN
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Notes
Approved
no
Call Number
cidis @ cidis @
Serial
49
Permanent link to this record
Author
Miguel Oliveira
;
Vítor Santos
;
Angel D. Sappa
;
Paulo Dias
;
A. Paulo Moreira
Title
Incremental Texture Mapping for Autonomous Driving
Type
Journal Article
Year
2016
Publication
Robotics and Autonomous Systems Journal
Abbreviated Journal
Volume
Vol. 84
Issue
Pages
pp. 113-128
Keywords
Scene reconstruction, Autonomous driving, Texture mapping
Abstract
Autonomous vehicles have a large number of on-board sensors, not only for providing coverage all around the vehicle, but also to ensure multi-modality in the observation of the scene. Because of this, it is not trivial to come up with a single, unique representation that feeds from the data given by all these sensors. We propose an algorithm which is capable of mapping texture collected from vision based sensors onto a geometric description of the scenario constructed from data provided by 3D sensors. The algorithm uses a constrained Delaunay triangulation to produce a mesh which is updated using a specially devised sequence of operations. These enforce a partial configuration of the mesh that avoids bad quality textures and ensures that there are no gaps in the texture. Results show that this algorithm is capable of producing fine quality textures.
Address
Corporate Author
Thesis
Publisher
Place of Publication
Editor
Language
English
Summary Language
English
Original Title
Series Editor
Series Title
Abbreviated Series Title
Series Volume
Series Issue
Edition
ISSN
ISBN
Medium
Area
Expedition
Conference
Notes
Approved
no
Call Number
cidis @ cidis @
Serial
50
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