Polygonal Perception for Mobile Robots
Marcell Missura,Arindam Roychoudhury,Maren Bennewitz,Marcell Missura,Arindam Roychoudhury,Maren Bennewitz
Geometric primitives are a compact and versatile representation of the environment and the objects within. From a motion planning perspective, the geometric structure can be leveraged in order to implement potentially faster and smoother motion control algorithms than it has been possible with grid-based occupancy maps so far. In this paper, we introduce a novel perception pipeline that efficientl...
