Obstacle Representation Database From Sensor Data

PercepTek has developed a software package that will process 3D point data from a range sensors such as LADAR or stereo to produce formats more suitable for navigation algorithms. The approach is based on an octree data structure used by PercepTek on its 3D from Video project. The representation serves as an efficient access mechanism for an extensible set of model primitives ranging in complexity from the input 3D points to planar patches or to more complex structures such as buildings or trees. Because this representation is 3D, it will support 3D planners as well as the 2D and 2.5D planners in common use today. This octree data structure easily handles hierarchical descriptions of the model as well as simplified representations of objects (e.g., bounding boxes) useful for rapid intersection testing. In the ORD Phase I effort PercepTek studied existing planning algorithms to determine their requirements, and developed a prototype obstacle representation database and query capability. In the proposed Phase II effort, PercepTek will incorporate new object representations to improve performance and generality, will deliver the software to AFDD and support its incorporation into their flight software, and will investigate methods of accelerating processing using COTS hardware.