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This paper presents novel, highly efficient approaches for updating Euclidean distance maps and Voronoi diagrams represented on grid maps. Our methods employ a dynamic variant of the brushfire algorithm to update only those cells that are actually affected by changes in the environment. In experiments in different environments we show that our update strategies for distance maps and Voronoi diagrams...
This paper presents an approach to time-optimal kinodynamic motion planning for a mobile robot. A global path planner is used to generate collision-free straight-line paths from the robot's position to a given goal location. With waypoints of this path, an initial trajectory is generated which defines the planned position of the robot over time. A velocity profile is computed that accounts for constraints...
In this paper a camera-based system for detection, tracking, and classification of U.S. speed signs is presented. The implemented application uses multiple connected stages and iteratively reduces the number of pixels to process for recognition. Possible sign locations are detected using a fast, shape-based interest operator. Remaining objects other than speed signs are discarded using a classifier...
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