Computational complexity of terrain mapping perception in autonomous mobility
- 22 November 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1047-1052
- https://doi.org/10.1109/robot.1997.614273
Abstract
For autonomously navigating vehicles, the automatic generation of dense geometric models of the environment is a computation- ally expensive process. Using first principles, it is possible to quantify the relationship between the raw throughput required of the perception system and the maximum safely achievable speed of the vehicle. We show that terrain mapping perception is of poly- nomial complexity in the response distance. To the degree that geometric perception consumes time, it also degrades real-time response characteristics. Given this relationship, several strate- gies of adaptive geometric perception arise which are practical for autonomous vehicles.Keywords
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