Meshing and Simplification of High Resolution Urban Surface Data for UAV Path Planning

Authors:
Florian-M. Adolf;Heiko Hirschmüller
Affiliations:
Department of Unmanned Aircraft, DLR Institute of Flight Systems, Braunschweig, Germany 38108;Department of Perception and Kognition, DLR Institute of Robotics and Mechatronics, Oberpfaffenhofen-Wessling, Germany 82234
Venue:
Journal of Intelligent and Robotic Systems
Year:
2011

Citing 9
Cited 1

Computational geometry: an introduction

Computational geometry: an introduction
Real-time, continuous level of detail rendering of height fields

SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Surface simplification using quadric error metrics

Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Accurate and Efficient Stereo Processing by Semi-Global Matching and Mutual Information

CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
Stereo Processing by Semiglobal Matching and Mutual Information

IEEE Transactions on Pattern Analysis and Machine Intelligence
Real-Time Randomized Motion Planning for Multiple Domains

RoboCup 2006: Robot Soccer World Cup X
Evaluation of Stereo Matching Costs on Images with Radiometric Differences

IEEE Transactions on Pattern Analysis and Machine Intelligence
On the Generation of Trajectories for Multiple UAVs in Environments with Obstacles

Journal of Intelligent and Robotic Systems
Sampling-Based Roadmap of Trees for Parallel Motion Planning

IEEE Transactions on Robotics

View Planning for Multi-View Stereo 3D Reconstruction Using an Autonomous Multicopter

Journal of Intelligent and Robotic Systems

Quantified Score

Hi-index	0.01

Visualization

Abstract

This work presents an approach to utilize high resolution surface data as a-priori information for three dimensional path planning at very low altitude. The major challenge is preserve features while reducing the amount of data to a minimum. Non significant height points are eliminated by a neighbor search, performed within a data structure generated from pseudo 3D Delaunay meshing. A comparison to an alternatively implemented simplification shows which inherent building features can be preserved. For highlighting the feasibility of the approach, the processing results of real urban surface data from the inner city of Berlin is presented and used for sampling based path planning of an unmanned helicopter.