Real-time construction and rendering of three-dimensional occupancy maps
J.P. Jones · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1993
This paper describes a preliminary sensory system for real-time sensor-based navigation in a three-dimensional, dynamic environment. Data from a laser range camera are processed on an iWarp parallel computer to create a 3-D occupancy map. This map is rendered using raytracing. The construction and rendering consume less than 800 milliseconds.