System and method for surface feature detection and traversal
There is described a method for navigating at least one substantially discontinuous surface feature (SDSF) encountered by a transport device (TD), the TD traveling a path over a surface, the surface including the at least one SDSF, the path including a starting point and an ending point, the method...
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| creator | Arunabh Mishra Gregory J. Buitkus Kartik Khanna David Carrigg Fnu, G. Siva Perumal Benjamin V. Hersh Daniel F. Pawlowski Yashovardhan Chaturvedi Patrick Steele Emily A. Carrigg |
| description | There is described a method for navigating at least one substantially discontinuous surface feature (SDSF) encountered by a transport device (TD), the TD traveling a path over a surface, the surface including the at least one SDSF, the path including a starting point and an ending point, the method comprising: accessing point cloud data representing the surface; forming the point cloud data into processable parts; merging the processable parts into at least one concave polygon; locating and labeling the at least one SDSF in the at least one concave polygon, the locating and labeling forming labeled point cloud data; creating graphing polygons based at least on the at least one concave polygon; and choosing the path from the starting point to the ending point based at least on the graphing polygons, the TD traversing the at least one SDSF along the path. |
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| subjects | CALCULATING COMPUTING CONTROLLING COUNTING IMAGE DATA PROCESSING OR GENERATION, IN GENERAL PHYSICS REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES |
| title | System and method for surface feature detection and traversal |
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