Incremental reconstruction of urban environments by Edge-Points Delaunay triangulation

  title={Incremental reconstruction of urban environments by Edge-Points Delaunay triangulation},
  author={Andrea Romanoni and Matteo Matteucci},
  journal={2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
Urban reconstruction from a video captured by a surveying vehicle constitutes a core module of automated mapping. When computational power represents a limited resource and, a detailed map is not the primary goal, the reconstruction can be performed incrementally, from a monocular video, carving a 3D Delaunay triangulation of sparse points; this allows online incremental mapping for tasks such as traversability analysis or obstacle avoidance. To exploit the sharp edges of urban landscape, we… CONTINUE READING
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