A terrain modeling algorithm that would reconstruct the sensed ground images formed by the triangulation scheme, and classify as unsafe any terrain feature that would pose a hazard to a roving vehicle is described. This modeler greatly reduces quantization errors inherent in a laser/sensing system through the use of a thinning algorithm. Dual filters are employed to separate terrain steps from the general landscape, simplifying the analysis of terrain features. A crosspath analysis is utilized to detect and avoid obstacles that would adversely affect the roll of the vehicle. Computer simulations of the rover on various terrains examine the performance of the modeler.


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    Title :

    Interpretation of Laser/Multi-Sensor Data for Short Range Terrain Modeling and Hazard Detection


    Contributors:

    Publication date :

    1980


    Size :

    102 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English





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