OVPC mesh: 3D free-space representation for local ground vehicle navigation

Fabio Ruetz, Emili Hernández, Mark Pfeiffer, Helen Oleynikova, Mark Cox, Thomas Lowe, Paulo Borges

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

9 Scopus citations

Abstract

This paper presents a novel approach for local 3D environment representation for autonomous unmanned ground vehicle (UGV) navigation called On Visible Point Clouds Mesh (OVPC Mesh). Our approach represents the surrounding of the robot as a watertight 3D mesh generated from local point cloud data in order to represent the free space surrounding the robot. It is a conservative estimation of the free space and provides a desirable trade-off between representation precision and computational efficiency, without having to discretize the environment into a fixed grid size. Our experiments analyze the usability of the approach for UGV navigation in rough terrain, both in simulation and in a fully integrated real-world system. Additionally, we compare our approach to well-known state-of the-art solutions, such as Octomap and Elevation Mapping and show that OVPC Mesh can provide reliable 3D information for trajectory planning while fulfilling real-time constraints.

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages8648-8654
Number of pages7
ISBN (Electronic)9781538660263
DOIs
StatePublished - May 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: May 20 2019May 24 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
Country/TerritoryCanada
CityMontreal
Period05/20/1905/24/19

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