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Meshing and Simplication of High Resolution Urban Surface Data for UAV Path Planning

Adolf, Florian-Michael and Hirschmüller, Heiko (2011) Meshing and Simplication of High Resolution Urban Surface Data for UAV Path Planning. Journal of Intelligent and Robotic Systems, 61. Springer. DOI: 10.1007/s10846-010-9478-8. ISSN 0921-0296.

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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 significant 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 simplification 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:Article
Title:Meshing and Simplication of High Resolution Urban Surface Data for UAV Path Planning
AuthorsInstitution or Email of Authors
Adolf, Florian-MichaelDLR Institute of Flight Systems, Dept. Unmanned Aircraft
Hirschmüller, HeikoDLR Institute of Robotics and Mechatronics, Dept. Perception and Kognition
Date:January 2011
Journal or Publication Title:Journal of Intelligent and Robotic Systems
Refereed publication:Yes
In ISI Web of Science:Yes
Valavanis, Kimon P.kvalavan@du.edu
Series Name:UAV'10 Special Volume
Keywords:Surface Meshing, Mesh Simplication, Mission Planning
HGF - Research field:Aeronautics, Space and Transport
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:16 Nov 2010 13:29
Last Modified:07 Feb 2013 19:43

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