Real-Time Spatial Occupancy Map Generation Using Multiresolution Shadow Casting
Bijan G. Mobasseri, W. James Adams · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1989
Path planning comprises a significant task in robot vision problems. The issue involves navigating from point A to B, avoiding obstacles on the way and satisfying other possible optimality criteria. In this context, obstacle avoidance forms the central part of the problem. Among the many path planning algorithms, multiresolution techniques based on hierarchical tree structures, e.g. quadtrees have shown great potential [1]. The existing techniques, however, are offline, static algorithms that plan a path using a single quadtree. Such techniques are unable to cope with dynamic scenes where spatial occupancy may change. This work presents a technique whereby a quadtree-based spatial occupancy map is generated in real time, making an online path planning task feasible.