Terrain Roughness Measurement from Elevation Maps
Conference Paper, Proceedings of SPIE Mobile Robots IV, Vol. 1195, pp. 104 - 114, March, 1990
Abstract
The Autonomous Planetary Rover Project at Carnegie Melion University is investigating the use of geometric information obtained from terrain elevation maps for mobile robot planning and control. We review how surface geometry has been characterized by surface roughness parameters, and why several of these parameters must be combined to form a vector roughness measurement. Next we propose a technique to localize and extract the intrinsic roughness from terrain elevation maps, and show how this can be used to characterize terrain.
BibTeX
@conference{Hoffman-1990-15737,author = {Regis Hoffman and Eric Krotkov},
title = {Terrain Roughness Measurement from Elevation Maps},
booktitle = {Proceedings of SPIE Mobile Robots IV},
year = {1990},
month = {March},
volume = {1195},
pages = {104 - 114},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.