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.
|Title:||Meshing and Simplication of High Resolution Urban Surface Data for UAV Path Planning|
|Journal or Publication Title:||Journal of Intelligent and Robotic Systems|
|In ISI Web of Science:||Yes|
|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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