Extracting Topological Features for Outdoor Mobile Robots

In So Kweon and Takeo Kanade
Proceedings of the 1991 IEEE International Conference on Robotics and Automation (ICRA '91), May, 1991, pp. 1992-1997.


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Abstract
Methods are presented for building high-level terrain descriptions, referred as topographic maps, by extracting terrain features like peaks, pits, ridges, and ravines from the contour map. The resulting topographic map contains the location and type of terrain features as well as the ground topography. The authors develop new definitions for those topographic features based on the contour map. They build a contour map from an elevation map and generate the connectivity tree of all regions separated by the contours. The authors use this connectivity tree, called a topographic change tree, to extract the topographic features. Experimental results on a digital elevation model support the definitions for topographic features and the approach.

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

Text Reference
In So Kweon and Takeo Kanade, "Extracting Topological Features for Outdoor Mobile Robots," Proceedings of the 1991 IEEE International Conference on Robotics and Automation (ICRA '91), May, 1991, pp. 1992-1997.

BibTeX Reference
@inproceedings{Kweon_1991_2447,
   author = "In So Kweon and Takeo Kanade",
   title = "Extracting Topological Features for Outdoor Mobile Robots",
   booktitle = "Proceedings of the 1991 IEEE International Conference on Robotics and Automation (ICRA '91)",
   pages = "1992-1997",
   month = "May",
   year = "1991",
   volume = "3",
}