Real-Time Spatial Occupancy Map Generation Using Multiresolution Shadow Casting

Bijan G. Mobasseri; W. James Adams

doi:10.1117/12.949031

7 March 1989 Real-Time Spatial Occupancy Map Generation Using Multiresolution Shadow Casting

Bijan G. Mobasseri, W. James Adams

Proceedings Volume 1005, Optics, Illumination, and Image Sensing for Machine Vision III; (1989) https://doi.org/10.1117/12.949031
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

Path planning comprises a significant task in robot vision problems. The issue involves navigating from point A to B, avoiding obstacles on the way and satisfying other possible optimality criteria. In this context, obstacle avoidance forms the central part of the problem. Among the many path planning algorithms, multiresolution techniques based on hierarchical tree structures, e.g. quadtrees have shown great potential [1]. The existing techniques, however, are offline, static algorithms that plan a path using a single quadtree. Such techniques are unable to cope with dynamic scenes where spatial occupancy may change. This work presents a technique whereby a quadtree-based spatial occupancy map is generated in real time, making an online path planning task feasible.

Citation Download Citation

Bijan G. Mobasseri and W. James Adams "Real-Time Spatial Occupancy Map Generation Using Multiresolution Shadow Casting", Proc. SPIE 1005, Optics, Illumination, and Image Sensing for Machine Vision III, (7 March 1989); https://doi.org/10.1117/12.949031

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