TY - GEN
T1 - Least square sparse mapping and octree-based A* algorithm
AU - Watanabe, Toshinobu
AU - Balci, Emre
AU - Johnson, Eric N.
N1 - Publisher Copyright:
© 2018 by the American Institute of Aeronautics and Astronautics, Inc.
PY - 2018/1/1
Y1 - 2018/1/1
N2 - This paper describes an architecture designed to enable to detect an obstacle by monoc- ular camera and create a path to avoid it. This technique consists of three parts: prefilter, occupied grid map, and octree-based A* algorithm. The prefilter includes initialization and update. As the initialization, four methods: Linear Least Square, inhomogeneous Singular Value Decomposition (SVD), homogeneous SVD, and nonlinear optimization, are compared. The recursive least square techinique is used for the update of the feature point position. This result is connected with the octree-based occupancy grid map. Finally, we inform the new A* algorithm based on the octree data structure.
AB - This paper describes an architecture designed to enable to detect an obstacle by monoc- ular camera and create a path to avoid it. This technique consists of three parts: prefilter, occupied grid map, and octree-based A* algorithm. The prefilter includes initialization and update. As the initialization, four methods: Linear Least Square, inhomogeneous Singular Value Decomposition (SVD), homogeneous SVD, and nonlinear optimization, are compared. The recursive least square techinique is used for the update of the feature point position. This result is connected with the octree-based occupancy grid map. Finally, we inform the new A* algorithm based on the octree data structure.
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U2 - 10.2514/6.2018-2013
DO - 10.2514/6.2018-2013
M3 - Conference contribution
AN - SCOPUS:85141597190
SN - 9781624105272
T3 - AIAA Information Systems-AIAA Infotech at Aerospace, 2018
BT - AIAA Information Systems-AIAA Infotech at Aerospace
PB - American Institute of Aeronautics and Astronautics Inc, AIAA
T2 - AIAA Information Systems-AIAA Infotech at Aerospace, 2018
Y2 - 8 January 2018 through 12 January 2018
ER -