Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Slope and Roughness Extraction Method from Terrain Elevation Maps

지형 고도 맵으로부터 기울기와 거칠기 추출 방법

  • 진강규 (한국해양대학교 컴퓨터.제어.전자통신공학부) ;
  • 이현식 (국방기술품질원 기동화력센터) ;
  • 이윤형 (한국항만연수원 부산연수원) ;
  • 소명옥 (한국해양대학교 선박전자기계공학부) ;
  • 신옥근 (한국해양대학교 컴퓨터.제어.전자통신공학부) ;
  • 채정숙 (국방과학연구소 5체계개발본부 2부) ;
  • 이영일 (국방과학연구소 5체계개발본부 2부)
  • Published : 2008.09.01
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Abstract

Recently, the interests in the development and application of unmaned robots are increasing in various fields including surveillance and reconnaissance, planet exploration, and disaster relief. Unmaned robots are usually controlled from distance using radio communications but they should be equipped with an autonomous travelling function to cope with unexpected terrains and obstacles. This means that they should be able to evaluate terrain's characteristics quantitatively using mounted sensors so as to traverse harsh natural terrains autonomously. For this purpose, this paper presents a method for extracting terrain information, that is, slope and roughness from elevation maps as a prior step of traversability analysis. Slope is extracted using the curve fitting based on the least squares method and roughness using three metrics and their weighted average. The effectiveness of the proposed method is verified on both a fractal map and the world model map of a real terrain.

Keywords

References

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