The Exact Euclidean Distance Transform: A New Algorithm for Universal Path Planning

Elizondo-Leal, Juan Carlos; Parra-González, Ezra Federico; Ramírez-Torres, José Gabriel

doi:10.5772/56581

Cited by 22 publications

(13 citation statements)

References 18 publications

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“…It was also observed that navigation in multiples of 45º is restrictive and requires a greater demand on the processor to perform the computations necessary. This can be improved by applying the Exact Euclidean Distance Transform algorithm [17].…”

Section: Discussionmentioning

confidence: 99%

“…Knowing the current position of the robot in the global reference, a new matrix is build, containing the distance of each cell to the destination, in order to bypass the obstacles with the respective margin of safety. This matrix is determined according to the Jarvis' distance transform algorithm with a Euclidean scan window [17], as presented in Fig. 9.…”

Section: Planning and Navigationmentioning

confidence: 99%

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Development and simulation on V-REP of an algorithm for the RoboCup@Work BNT

Alen

Silva

2014

2014 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

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Recently the RoboCup@Work league emerged in the world's largest robotics competition, intended for competitors wishing to compete in the field of mobile robotics for manipulation tasks in industrial environments. This competition consists of several tasks with one reflected in this work (Basic Navigation Test). This project involves the simulation in Virtual Robot Experimentation Platform (V-REP) of the behavior of a KUKA youBot. The goal is to verify that the robots can navigate in their environment, in a standalone mode, in a robust and secure way. To achieve the proposed objectives, it was necessary to create a program in Lua and test it in simulation. This involved the study of robot kinematics and mechanics, Simultaneous Localization And Mapping (SLAM) and perception from sensors. In this work is introduced an algorithmdeveloped for a KUKA youBot platform to perform the SLAM while reaching for the goal position, which works according to the requirements of this competition BNT. This algorithm also minimizes the errors in the built map and in the path travelled by the robot.

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Section: Discussionmentioning

confidence: 99%

Section: Planning and Navigationmentioning

confidence: 99%

Development and simulation on V-REP of an algorithm for the RoboCup@Work BNT

Alen

Silva

2014

2014 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

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“…From experimental results, they recommeded Meijster's (Meijster, Roerdink, & Hesselink, ) method with time complexity of O ( N ), where N is the total number of pixels, to be the best option for computing 2D‐EDT. Elizondo‐Leal, Parra‐González, and Ramírez‐Torres () proposed a EDT to solve a mobile robotics path‐planning problem with complexity of O ( m 2 n ) for an m × n image, at the worst conditions. Moreover, DTs have also been widely applied to shortest path planning (Shih & Wu, ), weather analysis and forecasting (Brunet & Sills, ), skeletonization (Arcelli, Baja, & Serino, ), and other problems.…”

Section: Search Methodologymentioning

confidence: 99%

A three‐dimensional distance transform for optimizing constrained mountain railway alignments

Song

Schonfeld

et al. 2019

Computer aided Civil Eng

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Railway alignment optimization is considered one of the most complicated and time‐consuming problems in railway planning and design. It requires searching among the infinite potential alternatives in huge three‐dimensional (3D) search spaces for a near‐optimal alignment, while considering complex constraints and a nonlinear objective function. In mountainous regions, the complex terrain and constructions require additional and more complex constraints than in topographically simpler regions. In this paper, the authors solve this problem with an algorithm based on a 3D distance transform (3D‐DT). Compared with previous two‐dimensional distance transform (2D‐DT) methods developed in this field, the feasible search spaces of 3D‐DT are greatly increased. Consequently, this new method can find more alternatives with higher qualities. In this approach, an erythrocyte‐shaped 3D neighboring mask is developed to narrow local search spaces and speed up the search process. Besides, a stepwise‐backstepping strategy is designed to dynamically determine feasible 3D search spaces and efficiently search the study area. During the 3D‐DT search process, multiple constraints, including geometric, construction, and location constraints, are effectively handled. After the 3D‐DT search, a genetic algorithm is employed to optimize the 3D‐DT paths into final alignments. Finally, this novel approach is applied to an actual case in a complex mountainous region. The comprehensive cost of the best solution generated by 3D‐DT is 16% below a manual solution produced by very experienced human designers. Furthermore, the total number of feasible alternatives found by 3D‐DT is 4.3 times greater than by 2D‐DT. The comprehensive cost of the best 3D‐DT solution is 10% below the best one generated by 2D‐DT.

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“…Namun, hasil pelacakan yang ditampilkan adalah hasil optical flow. Jarak koordinat hasil pelacakan dihitung dari kedua algoritma tersebut seperti yang ditunjukkan dalam Gambar 3 menggunakan P ersamaan 1, seperti dalam [13]- [15]. Jika jaraknya lebih dari 10 piksel, maka dilakukan update koordinat dengan cara koordinat pelacakan menggunakan optical flow digantikan dengan koordinat pelacakan template matching.…”

Section: Metode Penelitianunclassified

Sistem Pelacakan Objek Menggunakan Kombinasi Algoritma Optical Flow dan Template Matching

Fahriannur

Mardiyanto

Siswanto

2018

Jurnal Teknologi dan Sistem Komputer

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-This study is aimed to develop a tracking system algorithm by combining optical flow and template matching algorithms to strengthen tracking and minimize the resulting errors. The system has been tested on a football video game with the ball as a tracking object. The optical flow and template matching algorithms are used interchangeably based on the coordinates of both ranges calculated using the Euclidean distance equation. The result shows that the system is able to do tracking, although it is temporarily blocked by other objects, more stable and the distance error between the coordinates of the tracking result and the actual coordinates is not more than 110 pixels compared to using only optical flow or template matching algorithm. [9] mengembangkan sistem pelacakan video menggunakan algoritma frame differencing. Deteksi objek dilakukan dengan cara frame sekarang dikurangi dengan frame sebelumnya dan di antara objek yang terdeteksi dipilih salah satu objek menggunakan template matching. Hal ini mempercepat proses komputasinya dibandingkan dengan hanya menggunakan template matching saja. Parrila dkk. Keywords[10] membangun sistem pelacakan pada video lalu lintas jalan raya dengan menggunakan algoritma optical flow yang handal, yaitu dapat terus *) Penulis korespondensi (Meilana Siswanto)

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The Exact Euclidean Distance Transform: A New Algorithm for Universal Path Planning

Cited by 22 publications

References 18 publications

Development and simulation on V-REP of an algorithm for the RoboCup@Work BNT

Development and simulation on V-REP of an algorithm for the RoboCup@Work BNT

A three‐dimensional distance transform for optimizing constrained mountain railway alignments

Sistem Pelacakan Objek Menggunakan Kombinasi Algoritma Optical Flow dan Template Matching

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