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http://dx.doi.org/10.5302/J.ICROS.2008.14.9.909

Slope and Roughness Extraction Method from Terrain Elevation Maps  

Jin, Gang-Gyoo (한국해양대학교 컴퓨터.제어.전자통신공학부)
Lee, Hyun-Sik (국방기술품질원 기동화력센터)
Lee, Yun-Hyung (한국항만연수원 부산연수원)
So, Myung-Ok (한국해양대학교 선박전자기계공학부)
Shin, Ok-Keun (한국해양대학교 컴퓨터.제어.전자통신공학부)
Chae, Jeong-Sook (국방과학연구소 5체계개발본부 2부)
Lee, Young-Il (국방과학연구소 5체계개발본부 2부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.9, 2008 , pp. 909-915 More about this Journal
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
unmaned robot; terrain map; information extraction; least squares method; fractal theory;
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