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High-resolution terrain map from multiple sensor data

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2 Author(s)
Kweon, I.S. ; Vision & Autonomous Syst. Center, Carnegie Mellon Univ., Pittsburgh, PA, USA ; Kanade, T.

The authors present 3-D vision techniques for incrementally building an accurate 3-D representation of rugged terrain using multiple sensors. They have developed the locus method to model the rugged terrain. The locus method exploits sensor geometry to efficiently build a terrain representation from multiple sensor data. The locus method is used to estimate the vehicle position in the digital elevation map (DEM) by matching a sequence of range images with the DEM. Experimental results from large-scale real and synthetic terrains demonstrate the feasibility and power of the 3-D mapping techniques for rugged terrain. In real world experiments, a composite terrain map was built by merging 125 real range images. Using synthetic range images, a composite map of 150 m was produced from 159 images. With the proposed system, mobile robots operating in rugged environments can build accurate terrain models from multiple sensor data

Published in:

Pattern Analysis and Machine Intelligence, IEEE Transactions on  (Volume:14 ,  Issue: 2 )

Date of Publication:

Feb 1992

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