Title :
A fast algorithm for building the octree for a three-dimensional object from its multiple images
Author :
Noborio, Hiroshi ; Fukuda, Shozo ; Arimoto, Suguru
Author_Institution :
Osaka Electro-Commun. Univ., Japan
Abstract :
A fast algorithm is presented to measure obstacle shape in the workspace and to register the shape to the octree that is suitable for path and motion planning of the robot. The octree is constructed hierarchically by a set of cubic regions in the workspace, and its data structure is suitable for detecting interference between a moving robot and its obstacles and searching for a free region in the robot path planning
Keywords :
pattern recognition; robots; trees (mathematics); data structure; motion planning; obstacle shape; octree; pattern recognition; robot path planning; Data structures; Electric variables measurement; Interference; Machine vision; Path planning; Registers; Robot kinematics; Robot vision systems; Shape measurement; Solid modeling;
Conference_Titel :
Pattern Recognition, 1988., 9th International Conference on
Conference_Location :
Rome
Print_ISBN :
0-8186-0878-1
DOI :
10.1109/ICPR.1988.28382
