Driving on Point Clouds: Motion Planning, Trajectory Optimization, and Terrain Assessment in Generic Nonplanar Environments.
Philipp KrüsiPaul FurgaleMichael BosseRoland SiegwartPublished in: J. Field Robotics (2017)
Keyphrases
- motion planning
- point cloud
- trajectory planning
- configuration space
- degrees of freedom
- robotic tasks
- collision free
- path planning
- mobile robot
- surface reconstruction
- structure from motion
- robot arm
- dynamic environments
- autonomous mobile robot
- humanoid robot
- point sets
- multi robot
- laser scanner
- point cloud data
- stereo camera
- obstacle avoidance
- robotic arm
- kinematic model
- normal vectors
- three dimensional
- multi view reconstruction
- point correspondences
- multi modal
- feature extraction
- real time