loading
Papers

Research.Publish.Connect.

Paper

Paper Unlock

Authors: David Eriksson and Evan Shellshear

Affiliation: Fraunhofer-Chalmers Centre, Sweden

ISBN: 978-989-758-040-6

Keyword(s): Point Clouds, Distance Computation, Path-Planning, Simplification.

Related Ontology Subjects/Areas/Topics: Computer-Based Manufacturing Technologies ; Facilities Planning and Management ; Industrial Automation and Robotics ; Industrial Engineering ; Industrial Networks and Automation ; Informatics in Control, Automation and Robotics ; Intelligent Design and Manufacturing ; Robotics and Automation ; Systems Modeling and Simulation

Abstract: In this paper, algorithms have been developed that are capable of efficiently pre-processing massive point clouds for the rapid computation of the shortest distance between a point cloud and other objects (e.g. triangulated, point-based, etc.). This is achieved by exploiting fast distance computations between specially structured subsets of a simplified point cloud and the other object. This approach works for massive point clouds even with a small amount of RAM and was able to speed up the computations, on average, by almost two orders of magnitude. Given only 8 GB of RAM, this resulted in shortest distance computations of 30 frames per second for a point cloud originally having 1 billion points. The findings and implementations will have a direct impact for the many companies that want to perform path-planning applications through massive point clouds since the algorithms are able to produce real-time distance computations on a standard PC.

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 18.204.48.199

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Eriksson, D. and Shellshear, E. (2014). Approximate Distance Queries for Path-planning in Massive Point Clouds.In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-040-6, pages 20-28. DOI: 10.5220/0005002000200028

@conference{icinco14,
author={David Eriksson. and Evan Shellshear.},
title={Approximate Distance Queries for Path-planning in Massive Point Clouds},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={20-28},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005002000200028},
isbn={978-989-758-040-6},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Approximate Distance Queries for Path-planning in Massive Point Clouds
SN - 978-989-758-040-6
AU - Eriksson, D.
AU - Shellshear, E.
PY - 2014
SP - 20
EP - 28
DO - 10.5220/0005002000200028

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.