Non-cubic occupied voxel lists for robot maps

Authors:
Julian Ryde;Michael Brünig
Affiliations:
Autonomous Systems Laboratory, CSIRO ICT Centre, Brisbane, Australia;Autonomous Systems Laboratory, CSIRO ICT Centre, Brisbane, Australia
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 5
Cited 0

Sphere-packings, lattices, and groups

Sphere-packings, lattices, and groups
Vector quantization and signal compression

Vector quantization and signal compression
Multiple Description Lattice Vector Quantization

DCC '99 Proceedings of the Conference on Data Compression
Improving Cooperative Robot Exploration Using an Hexagonal World Representation

CERMA '07 Proceedings of the Electronics, Robotics and Automotive Mechanics Conference
On lattice quantization noise

IEEE Transactions on Information Theory

Quantified Score

Hi-index	0.00

Visualization

Abstract

An alternative to the conventional quantization for occupied voxel lists in both 2D and 3D is presented. The performance metrics of the hexagonal lattice in 2D and the face centred and body centred cubic lattices in 3D are investigated and compared to their square and cubic counterparts. It is found that quantization to alternative lattices yields some improvements. Ultimately, the D3 or face centred cubic lattice is highlighted for its lower quantization error, lower rotation variability and higher order rotational symmetry. It has three times less occupied voxel count pose variability than a standard cubic occupied voxel list. These improvements have implications for SLAM and path planning.