MAPRM: A Probabilistic Roadmap Planner with Sampling on the Medial Axis of the Free Space.

Steven A. Wilmarth Nancy M. Amato Peter F. Stiller

Published in: ICRA (1999)

Keyphrases

medial axis
free space
medial axes
shape representation
single point
endpoints
distance transform
medial axis transform
bayesian networks
probabilistic model
generative model
field of view
superpixels
three dimensional