The authors are prototyping a legged vehicle, the Ambler, for an exploratory mission on another planet, conceivably Mars, where it is to traverse uncharted areas and collect material samples. They describe how the rover can construct from range imagery a geometric terrain representation, i.e., elevation map that includes uncertainty, unknown areas, and local features. First, they present an algorithm for constructing an elevation map from a single range image. By virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike algorithms that work in Cartesian space. Secondly, the authors present a two-stage matching technique (feature matching followed by iconic matching) that identifies the transformation T corresponding to the vehicle displacement between two viewing positions. Thirdly, to support legged locomotion over rough terrain, they describe methods for evaluating regions of the constructed elevation maps as footholds.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Terrain mapping for a roving planetary explorer


    Weitere Titelangaben:

    Gelaendedarstellung fuer ein gefuehrtes Fahrzeug zur Planetenerforschung


    Beteiligte:
    Herbert, M. (Autor:in) / Caillas, C. (Autor:in) / Krotkov, E. (Autor:in) / Kweon, I.S. (Autor:in) / Kanade, T. (Autor:in)


    Erscheinungsdatum :

    1989


    Format / Umfang :

    896 Seiten, 9 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch