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Journal of Zhejiang University SCIENCE A 2006 Vol.7 No.7 P.1275~1281

http://doi.org/10.1631/jzus.2006.A1275


Automatic target tracking on multi-resolution terrain


Author(s):  WAN Ming, ZHANG Wei, MURRAY Marie O., KAUFMAN Arie

Affiliation(s):  The Boeing Company, P.O. Box 3707, MC 7L-40, Seattle, WA 98124-2207, USA; more

Corresponding email(s):   ming.wan@boeing.com, wei.zhang@boeing.com, marie.o.murray@boeing.com, ari@cs.sunysb.edu

Key Words:  Target tracking, Path planning, Dijkstra&rsquo, s algorithm, Voxel-based modeling, Multi-resolution terrain, Real-time visualization and simulation


WAN Ming, ZHANG Wei, MURRAY Marie O., KAUFMAN Arie. Automatic target tracking on multi-resolution terrain[J]. Journal of Zhejiang University Science A, 2006, 7(7): 1275~1281.

@article{title="Automatic target tracking on multi-resolution terrain",
author="WAN Ming, ZHANG Wei, MURRAY Marie O., KAUFMAN Arie",
journal="Journal of Zhejiang University Science A",
volume="7",
number="7",
pages="1275~1281",
year="2006",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.2006.A1275"
}

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%T Automatic target tracking on multi-resolution terrain
%A WAN Ming
%A ZHANG Wei
%A MURRAY Marie O.
%A KAUFMAN Arie
%J Journal of Zhejiang University SCIENCE A
%V 7
%N 7
%P 1275~1281
%@ 1673-565X
%D 2006
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.2006.A1275

TY - JOUR
T1 - Automatic target tracking on multi-resolution terrain
A1 - WAN Ming
A1 - ZHANG Wei
A1 - MURRAY Marie O.
A1 - KAUFMAN Arie
J0 - Journal of Zhejiang University Science A
VL - 7
IS - 7
SP - 1275
EP - 1281
%@ 1673-565X
Y1 - 2006
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.2006.A1275


Abstract: 
We propose a high-performance path planning algorithm for automatic target tracking in the applications of real-time simulation and visualization of large-scale terrain datasets, with a large number of moving objects (such as vehicles) tracking multiple moving targets. By using a modified dijkstra&rsquo;s algorithm, an optimal path between each vehicle-target pair over a weighted grid-presented terrain is computed and updated to eliminate the problem of local minima and losing of tracking. Then, a dynamic path re-planning strategy using multi-resolution representation of a dynamic updating region is proposed to achieve high-performance by trading-off precision for efficiency, while guaranteeing accuracy. Primary experimental results showed that our algorithm successfully achieved 10 to 96 frames per second interactive path-replanning rates during a terrain simulation scenario with 10 to 100 vehicles and multiple moving targets.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

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[2] Dijkstra, E., 1959. A note on two problems in connexion the graphs. Numerische Mathematik, 1(1):269-271.

[3] Hoppe, H., 1998. Smooth View-Dependent Level-of-Detail Control and Its Application to Terrain Rendering. Proc. IEEE Visualization Conference, p.35-42.

[4] Khatib, O., 1986. Real-time obstacle avoidance for manipulators and mobile robots. International Journal of Robotics Research, 5(1):90-98.

[5] Latombe, J., 1991. Robot Motion Planning. Kluwer Academic Publishers, Boston, MA.

[6] Latombe, J., 1999. Motion planning: a journey of robots, molecules, digital actors, and other artifacts. International Journal of Robotics Research, Special Issue on Robotics at the Millennium—Part I, 18(11):1119-1128.

[7] Wan, M., Qu, H., Kaufman, A., 1999. Virtual Flythrough over Voxel-Based Terrain. Proc. IEEE Virtual Reality Conference, p.53-60.

[8] Wan, M., Dachille, F., Kaufman, A., 2001. Distance-Field Based Skeletons for Virtual Navigation. Proc. IEEE Visualization Conference, p.239-245.

[9] Xia, J., El-Sana, J., Varshney, A., 1997. Adaptive real-time level-of-detail-based rendering for polygonal models. IEEE Transactions on Visualization and Computer Graphics, 3(2):171-183.

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