Non-cubic occupied voxel lists for robot maps

Ryde, Julian and Bruenig, Michael (2009). Non-cubic occupied voxel lists for robot maps. In: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, (4771-4776). October 11, 2009-October 15, 2009. doi:10.1109/IROS.2009.5354292


Author Ryde, Julian
Bruenig, Michael
Title of paper Non-cubic occupied voxel lists for robot maps
Conference name 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Conference location St. Louis, MO
Conference dates October 11, 2009-October 15, 2009
Proceedings title 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Journal name 2009 Ieee-Rsj International Conference On Intelligent Robots and Systems
Series 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Publication Year 2009
Sub-type Fully published paper
DOI 10.1109/IROS.2009.5354292
ISBN 9781424438044
Start page 4771
End page 4776
Total pages 6
Language eng
Abstract/Summary An alternative to the conventional quantization for occupied voxel lists in both 2D and 3D is presented. The performance metrics of the hexagonal lattice in 2D and the face centred and body centred cubic lattices in 3D are investigated and compared to their square and cubic counterparts. It is found that quantization to alternative lattices yields some improvements. Ultimately, the D3 or face centred cubic lattice is highlighted for its lower quantization error, lower rotation variability and higher order rotational symmetry. It has three times less occupied voxel count pose variability than a standard cubic occupied voxel list. These improvements have implications for SLAM and path planning.
Subjects 1702 Cognitive Sciences
1707 Computer Vision and Pattern Recognition
1709 Human-Computer Interaction
2207 Control and Systems Engineering
Q-Index Code E1
Q-Index Status Provisional Code
Institutional Status Unknown

Document type: Conference Paper
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