We propose adaptive grids, an image-based approach for constructing navigation meshes, which are used for path planning. A cellular navigation mesh, called an adaptive grid, is constructed from a top-view range image of a three-dimensional urban model. A navigation graph can then be extracted from this adaptive grid for path planning. We compare our approach with two popular navigation mesh–generation approaches and obtain promising results in terms of path accuracy and memory cost.
"Adaptive grids: an image-based approach to generate navigation meshes," Optical Engineering 52(2), 027002 (1 February 2013). https://doi.org/10.1117/1.OE.52.2.027002