Todor Stoyanov, Martin Magnusson, Henrik Andreasson and Achim J. Lilienthal
Path Planning in 3D Environments using the Normal Distributions Transform
Abstract:
Planning feasible paths in fully three-dimensional environments is a
challenging problem. Application of existing algorithms typically requires the
use of limited 3D representations that discard potentially useful information.
This article proposes a novel approach to path planning that utilizes a full 3D
representation directly: the Three-Dimensional Normal Distributions Transform
(3D-NDT). The well known wavefront planner is modified to use 3D-NDT as a basis
for map representation and evaluated using both indoor and outdoor data sets.
The use of 3D-NDT for path planning is thus demonstrated to be a viable choice
with good expressive capabilities.
@INPROCEEDINGS{Stoyanov_etal:IROS:2010,
AUTHOR = {Stoyanov, Todor and Magnusson, Martin and Andreasson, Henrik and Lilienthal, Achim J.},
TITLE = {{Path Planning in 3D Environments using the Normal Distributions Transform}},
BOOKTITLE = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
YEAR = {2010},
MONTH = {October 18--22},
ADRESS = {Taipei, Taiwan},
PAGES = {}
}