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Author Miguel Oliveira; Victor Santos; Angel Sappa; P. Dias; A. Moreira
Title Incremental texture mapping for autonomous driving Type Journal Article
Year 2016 Publication Robotics and Autonomous Systems Abbreviated Journal RAS
Volume 84 Issue Pages (down) 113-128
Keywords Scene reconstruction; Autonomous driving; Texture mapping
Abstract 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.
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
Area Expedition Conference
Notes ADAS; 600.086 Approved no
Call Number Admin @ si @ OSS2016b Serial 2912
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