Visibility of point clouds and mapping of unknown environments

Authors:
Yanina Landa;Richard Tsai;Li-Tien Cheng
Affiliations:
Department of Mathematics, University of California, Los Angeles, CA;Department of Mathematics, The University of Texas at Austin, TX;Department of Mathematics, University of California, San Diego, CA
Venue:
ACIVS'06 Proceedings of the 8th international conference on Advanced Concepts For Intelligent Vision Systems
Year:
2006

Citing 5
Cited 4

Uniformly high order accurate essentially non-oscillatory schemes, 111

Journal of Computational Physics
Shortest watchman routes in simple polygons

Discrete & Computational Geometry
QSplat: a multiresolution point rendering system for large meshes

Proceedings of the 27th annual conference on Computer graphics and interactive techniques
Estimation of 3D Surface Shape and Smooth Radiance from 2D Images: A Level Set Approach

Journal of Scientific Computing
Visibility and its dynamics in a PDE based implicit framework

Journal of Computational Physics

Visibility map for global illumination in point clouds

Proceedings of the 5th international conference on Computer graphics and interactive techniques in Australia and Southeast Asia
A solution to the Path Planning problem using angle preprocessing

Robotics and Autonomous Systems
Information-Seeking Control Under Visibility-Based Uncertainty

Journal of Mathematical Imaging and Vision
Intensity-based navigation with global guarantees

Autonomous Robots

Quantified Score

Hi-index	0.00

Visualization

Abstract

We present an algorithm for interpolating the visible portions of a point cloud that are sampled from opaque objects in the environment. Our algorithm projects point clouds onto a sphere centered at the observing locations and performs essentially non-oscillatory (ENO) interpolation to the projected data. Curvatures of the occluding objects can be approximated and used in many ways. We show how this algorithm can be incorporated into novel algorithms for mapping an unknown environment.