A method for fast search of variable regions on dynamic 3D point clouds

Authors:
Eric Wahl;Gerd Hirzinger
Affiliations:
Institute of Robotics and Mechatronics, German Aerospace Center (DLR);Institute of Robotics and Mechatronics, German Aerospace Center (DLR)
Venue:
PR'05 Proceedings of the 27th DAGM conference on Pattern Recognition
Year:
2005

Citing 6
Cited 1

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Abstract

The paper addresses the region search problem in three-dimensional (3D) space. The data used is a dynamically growing point cloud as it is typically gathered with a 3D-sensing device like a laser range-scanner. An encoding of space in combination with a new region search algorithm is introduced. The algorithm allows for fast access to spherical subsets of variable size. An octree based and a balanced binary tree based implementation are discussed. Finally, experiments concerning processing time are shown.