Incremental texture mapping for autonomous driving

• Type: Article in International Scientific Journal
• Date: 2016

Authors

Oliveira, M (Author) Other; Santos, V (Author) Other; Sappa, AD (Author) Other; Dias, P (Author) Other; António Paulo Moreira (Author) FEUP

Journal

Title: Robotics and Autonomous Systems

Vol. 84

Pages: 113-128

ISSN: 0921-8890

Publisher: Elsevier

Indexing

ISI Web of Knowledge - 2 Citations

Scopus - 4 Citations

Other information

Authenticus ID: P-00M-3AE

DOI: 10.1016/j.robot.2016.06.009

Abstract (EN): Autonomous vehicles have a large number of on-board sensors, not only for providing coverage all around the vehicle, but also to ensure multi-modality in the observation of the scene. Because of this, it is not trivial to come up with a single, unique representation that feeds from the data given by all these sensors. We propose an algorithm which is capable of mapping texture collected from vision based sensors onto a geometric description of the scenario constructed from data provided by 3D sensors. The algorithm uses a constrained Delaunay triangulation to produce a mesh which is updated using a specially devised sequence of operations. These enforce a partial configuration of the mesh that avoids bad quality textures and ensures that there are no gaps in the texture. Results show that this algorithm is capable of producing fine quality textures.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 16