Interpretation of laser/multi-sensor data for short range terrain modeling and hazard detection

Details Interpretation of laser/multi-sensor data for short range terrain modeling and hazard detection Interpretation of laser/multi-sensor data for short range terrain modeling and hazard detection

Aug 1980

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1980stin...8031294m&link_type=abstract

Unknown

Computer Science

Performance

Data Processing, Hazards, Mapping, Mathematical Models, Planetary Surfaces, Surface Properties, Terrain Analysis, Algorithms, Computerized Simulation, Layouts, Roving Vehicles, Terrain, Topography

Scientific paper

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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