Perception for rugged terrainA three-dimensional perception system for building a geometrical description of rugged terrain environments from range image data is presented with reference to the exploration of the rugged terrain of Mars. An intermediate representation consisting of an elevation map that includes an explicit representation of uncertainty and labeling of the occluded regions is proposed. The locus method used to convert range image to an elevation map is introduced, along with an uncertainty model based on this algorithm. Both the elevation map and the locus method are the basis of a terrain matching algorithm which does not assume any correspondences between range images. The two-stage algorithm consists of a feature-based matching algorithm to compute an initial transform and an iconic terrain matching algorithm to merge multiple range images into a uniform representation. Terrain modeling results on real range images of rugged terrain are presented. The algorithms considered are a fundamental part of the perception system for the Ambler, a legged locomotor.
Document ID
19900024680
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Kweon, In SO (Carnegie-Mellon Univ. Pittsburgh, PA, United States)
Hebert, Martial (Carnegie-Mellon Univ. Pittsburgh, PA, United States)
Kanade, Takeo (Carnegie-Mellon University Pittsburgh, PA, United States)