A multiresolution representation for massive meshes

Shaffer, Eric; Garland, Michael

doi:10.1109/tvcg.2005.18

Cited by 31 publications

(11 citation statements)

References 19 publications

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“…보통의 2차원 격자 지도는 3차원으로 확장한 개념으로 octree 형태의 데이터 구조로 표현하는 방식이고 3차원 공간에 대한 점유/비 점유 정보를 저장해야 하므로 메모리를 매우 많이 필요로 하며, 지도 작성 자체가 어려운 단점이 있다. 하지만, DSM의 경 우는 2차원 격자지도 형태의 데이터 구조에 점유/비 점유 정보가 아닌 고도 정보가 저장된 형태를 하고 있어 단점을 보완하고 GPS (Global Positioning System) / INS (Inertial Navigation System)센서에 LRF 센서를 이용하여 3차원 지도 를 구현하는데 큰 장점을 가지고 있다 [6,7].…”

Section: ※ 본 연구는 지식경제부 및 정보통신산업진흥원의 특수환경unclassified

A 3D Map Building Algorithm for a Mobile Robot Moving on the Slanted Surface

Hwang¹,

Han²,

Kim³

et al. 2012

Journal of Institute of Control, Robotics and Systems

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This paper proposes a 3D map-building algorithm using one LRF (Laser Range Finder) while a mobile robot is navigating on the slanted surface. There are several researches on 3D map buildings using the LRF. However most of them are performing the map building only on the flat surface. While a mobile robot is moving on the slanted surface, the view angle of LRF is dynamically changing, which makes it very difficult to build the 3D map using encoder data. To cope with this dynamic change of the view angle in build 3D map, IMU and balance filters are fused to correct the unstable encoder data in this research. Through the real navigation experiments, it is verified that the fusion of multiple sensors are properly performed to correct the slope angle of the slanted surface. The effectiveness of the balance filter are also checked through the hill climbing navigations. Keywords

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Section: ※ 본 연구는 지식경제부 및 정보통신산업진흥원의 특수환경unclassified

A 3D Map Building Algorithm for a Mobile Robot Moving on the Slanted Surface

Hwang¹,

Han²,

Kim³

et al. 2012

Journal of Institute of Control, Robotics and Systems

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“…Examples can be found in [28][29][30][31][32]. The major benefit of this scheme is a better distribution of the polygon resource, which ensures better fidelity.…”

Section: The Review Of the Leve-of-detail Schemesmentioning

confidence: 99%

Generating high-quality discrete LOD meshes for 3D computer games in linear time

et al. 2006

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The real-time interactive 3D multimedia applications such as 3D computer games and virtual reality (VR) have become prominent multimedia applications in recent years. In these applications, both visual fidelity and degree of interactivity are usually crucial to the success or failure of employment. Although the visual fidelity can be increased using more polygons for representing an object, it takes a higher rendering cost and adversely affects the rendering efficiency. To balance between the visual quality and the rendering efficiency, a set of level-of-detail (LOD) meshes has to be generated in advance. In this paper, we propose a highly efficient polygonal mesh simplification algorithm that is capable of generating a set of high-quality discrete LOD meshes in linear run time. The new algorithm adopts memoryless vertex quadric computation, and suggests the use of constant size replacement selection minheap, pipelined simplification, two-stage optimization, and a new hole-filling scheme, which enable it to generate very high-quality LOD meshes using relatively small amount of main memory space in linear runtime.

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“…free form atomic binary forest Danovaro et al [6] clustering dep. nD atomic a few clusters Hoppe [20] partitioning scalar field atomic cluster hierarchy Cignoni et al [4] partitioning scalar field large binary tree Yoon et al [45] partitioning free form large cluster hierarchy Lindstrom [30] partitioning free form medium a few MB Shaffer and Garland [43] partitioning free form medium cluster indices Cignoni et al [5] partitioning free form large cluster hierarchy for triangle meshes describing the boundary of a 3D object, or a 3D scene. These techniques, however, either can be applied directly or can be easily adapted to TINs.…”

Section: Discussionmentioning

confidence: 99%

“…Lindstrom [30] and Shaffer and Garland [43] have proposed two similar outof-core multi-resolution models for massive triangle meshes describing 3D scenes generated through vertex clustering. The purpose is in both cases view-dependent rendering of very large 3D meshes.…”

Section: Methods Based On Domain Partitioningmentioning

confidence: 99%

“…Shaffer and Garland's approach [43] is to develop a design for a data structure that offers explicit access to the original mesh. On the other hand, Lindstrom's method has the benefit of working completely out of core, while Shaffer and Garland's method keeps a hash table that refers only to non-empty cells of the grid in memory.…”

Section: Methods Based On Domain Partitioningmentioning

confidence: 99%

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Out-of-core Multiresolution Terrain Modeling

Danovaro

Floriani

Puppo

et al.

Spatial Data on the Web

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In this chapter we discuss issues about Level Of Detail (LOD) representations for digital terrain models and, especially, we describe how to deal with very large terrain datasets through out-of-core techniques that explicitly manage I/O operations between levels of memory. LOD modeling in the related context of geographical maps is discussed in Chapters 3 and 4.A dataset describing a terrain consists of a set of elevation measurements taken at a finite number of locations over a planar or a spherical domain. In a digital terrain model, elevation is extended to the whole domain of interest by averaging or interpolating the available measurements. Of course, the resulting model is affected by some approximation error and, in general, the higher the density of the samples, the smaller the error. The same arguments can be used for more general two-dimensional scalar, or vector fields (e.g., generated by simulation), defined over a manifold domain, and measured through some sampling process.Available terrain datasets are becoming larger and larger, and processing them at their full resolution often exhibits prohibitive computational costs, even for highend workstations. Simplification algorithms and multi-resolution models proposed in the literature may improve efficiency, by adapting resolution on-the-fly, according to the needs of a specific application [32]. Data at high resolution are preprocessed once in order to build a multi-resolution model, which can be queried on-line by the application. The multi-resolution model acts as a black box that provides simplified representations, where resolution is focused on the region of interest, and at the level of detail required by the application. A simplified representation is generally affected by some approximation error, which is usually associated with either the vertices, or the cells of the simplified mesh.Since current datasets often exceed the size of main memory, I/O operations between levels of memory are often the bottleneck in computation. A disk access is

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A multiresolution representation for massive meshes

Cited by 31 publications

References 19 publications

A 3D Map Building Algorithm for a Mobile Robot Moving on the Slanted Surface

A 3D Map Building Algorithm for a Mobile Robot Moving on the Slanted Surface

Generating high-quality discrete LOD meshes for 3D computer games in linear time

Out-of-core Multiresolution Terrain Modeling

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