Learn More
— Matching 2D range scans is a basic component of many localization and mapping algorithms. Most scan match algorithms require finding correspondences between the used features, i.e. points or lines. We propose an alternative representation for a range scan, the Normal Distributions Transform. Similar to an occupancy grid, we subdivide the 2D plane into(More)
HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt età la diffusion(More)
In recent years, substantial progress has been achieved in the area of volume visualization on irregular grids, which is mainly based on tetrahedral meshes. Even moderately fine tetrahedral meshes consume several mega-bytes of storage. For archivation and transmission compression algorithms are essential. In scientific applications lossless compression(More)
We present a new algorithm for rendering very large volume data sets at interactive framerates on standard PC hardware. The algorithm accepts scalar data sampled on a regular grid as input. The input data is converted into a compressed hierarchical wavelet representation in a preprocessing step. During rendering, the wavelet representation is decompressed(More)