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2020 | OriginalPaper | Chapter

14. Real-Time Egocentric Navigation Using 3D Sensing

Authors : Justin S. Smith, Shiyu Feng, Fanzhe Lyu, Patricio A. Vela

Published in: Machine Vision and Navigation

Publisher: Springer International Publishing

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Abstract

This chapter proposes a hierarchical navigation system combining the benefits of perception space local planning and allocentric global planning. Perception space permits computationally efficient 3D collision checking, enabling safe navigation in environments that do not meet the conditions assumed by traditional navigation systems based on planar laser scans. Contributions include approaches for scoring and collision checking trajectories in perception space. Benchmarking results show the advantages of perception space collision checking over popular alternatives in the context of real-time local planning. Simulated experiments with multiple robotic platforms in several environments demonstrate the importance of 3D collision checking and the utility of a mixed representation hierarchical navigation system.

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Title: Real-Time Egocentric Navigation Using 3D Sensing
Authors: Justin S. Smith
Shiyu Feng
Fanzhe Lyu
Patricio A. Vela
Publisher: Springer International Publishing
Book: Machine Vision and Navigation
Print ISBN: 978-3-030-22586-5

Electronic ISBN: 978-3-030-22587-2

Copyright Year: 2020
DOI: https://doi.org/10.1007/978-3-030-22587-2_14

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