Robot Terrain Inclination model extracted from laser scanner data for outdoor environment

A new Robot Terrain Inclination model (RTI model) extracted from laser scanner data is proposed in this paper. The RTI model can be used to evaluate the terrain traversability or assist localization and mapping for outdoor mobile robot. The paper presents the segmentation of the terrain points and the non-terrain points and the extraction of RTI model. Experiments were carried out to demonstrate the accuracy of RTI model.