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Visibility of Point Clouds and Mapping of Unknown Environments

  • Conference paper
Advanced Concepts for Intelligent Vision Systems (ACIVS 2006)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 4179))

Abstract

We present an algorithm for interpolating the visible portions of a point cloud that are sampled from opaque objects in the environment. Our algorithm projects point clouds onto a sphere centered at the observing locations and performs essentially non-oscillatory (ENO) interpolation to the projected data. Curvatures of the occluding objects can be approximated and used in many ways. We show how this algorithm can be incorporated into novel algorithms for mapping an unknown environment.

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Author information

Authors and Affiliations

  1. Department of Mathematics, University of California, Los Angeles, CA, 90095, USA

    Yanina Landa

  2. Department of Mathematics, The University of Texas at Austin, TX, 78704, USA

    Richard Tsai

  3. Department of Mathematics, University of California, San Diego, CA, 92093, USA

    Li-Tien Cheng

Authors
  1. Yanina Landa
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  2. Richard Tsai
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  3. Li-Tien Cheng
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Editor information

Editors and Affiliations

  1. DGA/D4S/MRIS, 94114, Arcueil, France

    Jacques Blanc-Talon

  2. Ghent University, 9000, Gent, Belgium

    Wilfried Philips

  3. CSIRO ICT Centre, 1710, Sydney, NSW, Australia

    Dan Popescu

  4. University of Antwerp, 2610, Wilrijk, Belgium

    Paul Scheunders

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© 2006 Springer-Verlag Berlin Heidelberg

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Landa, Y., Tsai, R., Cheng, LT. (2006). Visibility of Point Clouds and Mapping of Unknown Environments. In: Blanc-Talon, J., Philips, W., Popescu, D., Scheunders, P. (eds) Advanced Concepts for Intelligent Vision Systems. ACIVS 2006. Lecture Notes in Computer Science, vol 4179. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11864349_92

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  • DOI: https://doi.org/10.1007/11864349_92

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-44630-9

  • Online ISBN: 978-3-540-44632-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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