Print Email Facebook Twitter Indoor A* Pathfinding through an Octree Representation of a Point Cloud Title Indoor A* Pathfinding through an Octree Representation of a Point Cloud Author Rodenberg, OBPM Verbree, E. (TU Delft OLD Department of GIS Technology) Zlatanova, S. (TU Delft Urban Data Science) Contributor Dimopoulou, E. (editor) van Oosterom, P. (editor) Date 2016-10-05 Abstract There is a growing demand of 3D indoor pathfinding applications. Researched in the field of robotics during the last decades of the 20th century, these methods focussed on 2D navigation. Nowadays we would like to have the ability to help people navigate inside buildings or send a drone inside a building when this is too dangerous for people. What these examples have in common is that an object with a certain geometry needs to find an optimal collision free path between a start and goal point.This paper presents a new workflow for pathfinding through an octree representation of a point cloud. We applied the following steps: 1) the point cloud is processed so it fits best in an octree; 2) during the octree generation the interior empty nodes are filtered and further processed; 3) for each interior empty node the distance to the closest occupied node directly under it is computed; 4) a network graph is computed for all empty nodes; 5) the A* pathfinding algorithm is conducted.This workflow takes into account the connectivity for each node to all possible neighbours (face, edge and vertex and all sizes). Besides, a collision avoidance system is pre-processed in two steps: first, the clearance of each empty node is computed, and then the maximal crossing value between two empty neighbouring nodes is computed. The clearance is used to select interior empty nodes of appropriate size and the maximal crossing value is used to filter the network graph. Finally, both these datasets are used in A* pathfinding. Subject Indoor pathfindingoctreenetwork graphconnectivitypoint cloudcollision avoidance To reference this document use: http://resolver.tudelft.nl/uuid:385d1bcf-cea8-4ec1-8c8c-7a31309c9c1c DOI https://doi.org/10.5194/isprs-annals-iv-2-w1-249-2016 Publisher ISPRS Source ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences, IV-2/W1 Event 11th 3D Geoinfo Conference, 2016-10-20 → 2016-10-21, Athens, Greece Part of collection Institutional Repository Document type conference paper Rights © 2016 OBPM Rodenberg, E. Verbree, S. Zlatanova Files PDF isprs_annals_IV_2_W1_249_2016.pdf 1.35 MB Close viewer /islandora/object/uuid:385d1bcf-cea8-4ec1-8c8c-7a31309c9c1c/datastream/OBJ/view