An Alternative to Using the 3-D Delaunay Tessellation for Representing Freespace
MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB
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Representing the world in terms of visible surfaces and the freespace existing between these surfaces and the viewer is an important problem in robotics. For example, such a representation can be used to plan mobile robot navigation routes or manipulator paths for pick-and-place operations. Recently, researchers have proposed using the 3-D Delaunay Tessellation for representing 3-D stereo vision data and the freespace determined therefrom. We discuss problems with using the 3-D Delaunay Tessellation as the basis of the representation and propose an alternative representation that we are currently investigating. This new representation is appropriate for planning mobile robot navigation and promises to be robust when using stereo data that has errors and uncertainty.