This work proposes an innovative app navigation path-planning problem exploration rovers by including terrain characteristics. The objective is to enhance the typical 2D arithmetical cost function by adding 3D information computed from the laser-scanned terrain such as terrain height, slopes, shadows, orientation and terrain roughness. This paper describes the algorithm developed by UPM and GMV...

We present a set of interactive 3D visualizations, designed to explore oil/gas reservoir simulation post-processing models. With these visualizations we aim to provide reservoir engineers with better access to the data within their 3D models. We provide techniques for exploring existing oil well trajectories, and for planning future wells, to assist in decision making. Our approach focuses on d...

We present an automated planning application for generating 3D tasks demonstrations involving a teleoperated robot arm on the International Space Station (ISS). A typical task demonstration involves moving the robot arm from one configuration to another. Our objective is to automatically plan the position of virtual cameras to film the arm in a manner that conveys the best awareness of the robo...

Micro aerial vehicles (MAVs), such as multicopters, are particular well suited for the inspection of human-built structures, e. g., for maintenance or disaster management. Today, the operation of MAVs in the close vicinity of these structures requires a human operator to remotely control the vehicle. For fully autonomous operation, a detailed model of the environment is essential. Building such...

This work presents the Dual Half Edge (DHE) structure and the associated construction methods for 3D models. Three different concepts are developed and described with particular reference to the Euler operators. All of them allow for simultaneous maintenance of both the primal and dual graphs. They can be used to build cell complexes in 2D or 3D. They are general, and different cell shapes such...

There is no doubt that the seamless integration and simulation of highly realistic autonomous virtual characters within 3D real-time applications are two important and challenging technological objectives for virtual storytelling. The V-Man project aims at developing a Virtual Character Authoring and Animation toolkit optimized for real-time applications. The V-Man system provides very innovati...

In this paper we present a novel method for the 3D centerline extraction of elongated objects such as vessels. This method unites the basic ideas in distance transformbased, thinning, and path planning methods to extract thin and connected centerlines. This fast approach needs no user interaction or any prior knowledge of the object shape. Centerline extraction is the first and most important s...

This paper presents a new approach to parallel path planning for industrial robot arms with six degrees of freedom in an on-line given 3D environment. The method is based a best-first search algorithm and needs no essential off-line computations. The algorithm works in an implicitly discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computa...

In this paper, we illustrate a viewpoint planning and local navigation algorithm for mobile robot exploration using 3D perception. Laser scans and stereo camera data are read and composed into a single point cloud. The latest acquired point clouds are registered and used to detect relevant objects and obstacles in space. To demonstrate the capability of the proposed perception system, a viewpoi...

This paper presents a new approach to parallel path planning for industrial robot arms with six degrees of freedom in an on-line given 3D environment. The method is based a best-first search algorithm and needs no essential off-line computations. The algorithm works in an implicitly discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computa...