Adolf, Florian-Michael und Hirschmüller, Heiko (2011) Meshing and Simplification 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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Kurzfassung
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.
elib-URL des Eintrags: | https://elib.dlr.de/65608/ | ||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||
Titel: | Meshing and Simplification of High Resolution Urban Surface Data for UAV Path Planning | ||||||||||||
Autoren: |
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Datum: | Januar 2011 | ||||||||||||
Erschienen in: | Journal of Intelligent and Robotic Systems | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Nein | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Ja | ||||||||||||
In ISI Web of Science: | Ja | ||||||||||||
Band: | 61 | ||||||||||||
DOI: | 10.1007/s10846-010-9478-8 | ||||||||||||
Herausgeber: |
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Verlag: | Springer | ||||||||||||
Name der Reihe: | UAV'10 Special Volume | ||||||||||||
ISSN: | 0921-0296 | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | Surface Meshing, Mesh Simplication, Mission Planning | ||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
HGF - Programm: | Luftfahrt | ||||||||||||
HGF - Programmthema: | L VU - Luftverkehr und Umwelt (alt) | ||||||||||||
DLR - Schwerpunkt: | Luftfahrt | ||||||||||||
DLR - Forschungsgebiet: | L VU - Luftverkehr und Umwelt | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | L - Luftverkehr und Wetter (alt) | ||||||||||||
Standort: | Braunschweig , Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) Institut für Flugsystemtechnik > Unbemannte Luftfahrzeuge | ||||||||||||
Hinterlegt von: | Adolf, Florian-Michael | ||||||||||||
Hinterlegt am: | 16 Nov 2010 13:29 | ||||||||||||
Letzte Änderung: | 12 Mär 2024 15:26 |
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