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Surface Meshing and Simplication of High Resolution Urban Terrain Data for 3D Path Planning

Adolf, Florian-Michael and Hirschmüller, Heiko (2010) Surface Meshing and Simplication of High Resolution Urban Terrain Data for 3D Path Planning. UAV 2010, 21.-23. Juni 2010, Dubai.

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Official URL: http://www.uavconferences.com

Abstract

This work presents an approach to utilize high resolution surface data as a-priori information for three dimensional path planning at very low altitude. The major challenge is preserve features while reducing the amount of data to a minimum. Non signicant height points are eliminated by a neighbor search, performed within a data structure generated from pseudo 3D Delaunay meshing. A comparison to an alternatively implemented simplication shows which inherent building features can be preserved. For highlighting the feasibility of the approach, the processing results of real urban surface data from the inner city of Berlin is presented and used for sampling based path planning of an unmanned helicopter.

Document Type:Conference or Workshop Item (Paper)
Title:Surface Meshing and Simplication of High Resolution Urban Terrain Data for 3D Path Planning
Authors:
AuthorsInstitution or Email of Authors
Adolf, Florian-MichaelDLR-FT
Hirschmüller, HeikoDLR-RM
Date:22 June 2010
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Surface Meshing, Mesh Simplication, Mission Planning
Event Title:UAV 2010
Event Location:Dubai
Event Type:international Conference
Event Dates:21.-23. Juni 2010
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Aeronautics
HGF - Program Themes:L VU - Air Traffic and Environment (old)
DLR - Research area:Aeronautics
DLR - Program:L VU - Air Traffic and Environment
DLR - Research theme (Project):L - Air Traffic and Weather (old)
Location: Braunschweig , Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Institute of Flight Systems > Unmanned Aircraft
Deposited By: Florian-Michael Adolf
Deposited On:22 Sep 2010 14:17
Last Modified:26 Oct 2010 11:39

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