Navigability Graph Extraction From Large-Scale 3D Point Cloud

Imeen Ben Salah, Sebastien Kramm, Cedric Demonceaux, Pascal Vasseur
2018 2018 21st International Conference on Intelligent Transportation Systems (ITSC)  
This paper presents a novel method for summarizing and compression of large-scale 3D models into compact spherical representations. The information is combined into a set of optimized spheres in order to facilitate its use by systems with limited resources (smartphones, robots, UAVs, ...). This vision-based summarizing process is applied in a fully automatic way using jointly photometric, geometric and semantic information of the studied environment. The main contribution of this research is to
more » ... this research is to provide a navigability graph that maximizes the significance of the contents of its nodes while maintaining the full visibility of the environment. Experimental results in summarizing large-scale 3D map demonstrate the feasibility of our approach and evaluate the performance of the algorithm.
doi:10.1109/itsc.2018.8569447 dblp:conf/itsc/SalahKDV18 fatcat:o2yu44f7rrajjp5uswwt7nowz4