Geometry

   

Curve Decimation in SE(2) and SE(3)

Authors: Jan Hakenberg

We generalize the Ramer-Douglas-Peucker algorithm to operate on a sequence of elements from a Lie group. As the original, the new algorithm bounds the approximation error, and has an expected runtime complexity of O(n log n). We apply the curve decimation to data recorded from a car-like robot in SE(2), as well as from a drone in SE(3). The results show that many samples of the original sequence can be dropped while maintaining a high-quality approximation to the original trajectory.

Comments: 9 Pages.

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Submission history

[v1] 2019-09-08 14:35:08

Unique-IP document downloads: 25 times

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