Todor Stoyanov, Martin Magnusson, Henrik Andreasson and Achim J. Lilienthal
Path Planning in 3D Environments using the Normal Distributions Transform
Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2010
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.
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@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 = {}
}