Incremental scenario representations for autonomous driving using geometric polygonal primitives

Miguel Oliveira, Vitor Santos, Angel D. Sappa, Paulo Dias, A. Paulo Moreira

    Research output: Contribution to journalArticleResearchpeer-review

    5 Citations (Scopus)


    © 2016 Elsevier B.V. When an autonomous vehicle is traveling through some scenario it receives a continuous stream of sensor data. This sensor data arrives in an asynchronous fashion and often contains overlapping or redundant information. Thus, it is not trivial how a representation of the environment observed by the vehicle can be created and updated over time. This paper presents a novel methodology to compute an incremental 3D representation of a scenario from 3D range measurements. We propose to use macro scale polygonal primitives to model the scenario. This means that the representation of the scene is given as a list of large scale polygons that describe the geometric structure of the environment. Furthermore, we propose mechanisms designed to update the geometric polygonal primitives over time whenever fresh sensor data is collected. Results show that the approach is capable of producing accurate descriptions of the scene, and that it is computationally very efficient when compared to other reconstruction techniques.
    Original languageEnglish
    Pages (from-to)312-325
    JournalRobotics and Autonomous Systems
    Publication statusPublished - 1 Sep 2016


    • Autonomous vehicles
    • Incremental scene reconstruction
    • Point clouds
    • Polygonal primitives


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