| Records |
Author  |
Miguel Oliveira; Vítor Santos; Angel D. Sappa; Paulo Dias |
| Title |
Scene representations for autonomous driving: an approach based on polygonal primitives |
Type |
Conference Article |
| Year |
2015 |
Publication |
Iberian Robotics Conference (ROBOT 2015), Lisbon, Portugal, 2015 |
Abbreviated Journal |
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| Volume |
417 |
Issue |
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Pages |
503-515 |
| Keywords |
Scene reconstruction, Point cloud, Autonomous vehicles |
| Abstract |
In this paper, we present a novel methodology to compute a 3D scene representation. The algorithm uses macro scale polygonal primitives to model the scene. 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. Results show that the approach is capable of producing accurate descriptions of the scene. In addition, the algorithm is very efficient when compared to other techniques. |
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| Publisher |
Springer International Publishing Switzerland 2016 |
Place of Publication |
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| Language |
English |
Summary Language |
English |
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Expedition |
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Conference |
Second Iberian Robotics Conference |
| Notes |
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Approved |
no |
| Call Number |
cidis @ cidis @ |
Serial |
45 |
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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 |
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| Volume |
Vol. 83 |
Issue |
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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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English |
Summary Language |
English |
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Approved |
no |
| Call Number |
cidis @ cidis @ |
Serial |
49 |
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| 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 |
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| Volume |
Vol. 84 |
Issue |
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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. |
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| Language |
English |
Summary Language |
English |
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no |
| Call Number |
cidis @ cidis @ |
Serial |
50 |
| Permanent link to this record |
