Cart (Loading....) | Create Account
Close category search window
 

Terrain mapping for a walking planetary rover

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Krotkov, E. ; Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Hoffman, R.

Presents a terrain mapping system for walking robots that constructs quantitative models of surface geometry, The accuracy of the constructed maps enables safe, power-efficient locomotion over the natural, rugged terrain found on planetary surfaces. The mapping system acquires range images with a laser rangefinder, preprocesses and stores the images, and constructs elevation maps from them at arbitrary resolutions, in arbitrary reference frames. To quantify performance in terms of accuracy, timing, and memory utilization, the authors conducted extensive tests in natural, rugged terrain, producing hundreds of millions of map points. The results indicate that the mapping system 1) is one of the few that can handle extremely rugged terrain, and 2) exhibits a high degree of real-world robustness due to its aggressive detection of image-based errors and in its compensation for time-varying errors

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:10 ,  Issue: 6 )

Date of Publication:

Dec 1994

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.