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Carnegie Mellon Robotics Institute

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Abstract

To perform planetary exploration without human supervision, a complete autonomous rover must be able to model its environment while exploring its surroundings. We present a new algorithm to consuuct a geomemc terrain representation from a single range image. The form of the representation is an elevation map that includes uncertainty, unknown areas, and local features. By virtue of working in spherical-polar space, the algorithm is independent of the desired map nsolution and the orientation of the sensor, unlike other algorithms that work in Cartesian space. We also describe new methods to evaluate regions of the constructed elevation maps to support legged locomotion over rough tcrrain.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Number of pages: 10

Text Reference

Eric Krotkov, C. Caillas, Martial Hebert, In So Kweon, and Takeo Kanade, "First Results in Terrain Mapping for a Roving Planetary Explorer," Proc. NASA Conference on Space Telerobotics, January, 1989.

BibTeX Reference

@inproceedings{Krotkov_1989_2434,
   author = "Eric Krotkov and C. Caillas and Martial Hebert and In So Kweon and Takeo Kanade",
   title = "First Results in Terrain Mapping for a Roving Planetary Explorer",
   booktitle = "Proc. NASA Conference on Space Telerobotics",
   month = "January",
   year = "1989",
}

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