Carnegie Mellon University
Terrain Roughness Measurement from Elevation Maps

Regis Hoffman and Eric Krotkov
SPIE Vol 1195 Mobile Robols IV, 1989.

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The Autonomous Planetary Rover Project at Carnegie Melion University is investigating the use of geometric information obtained from terrain elevation maps for mobile robot planning and control. We review how surface geometry has been characterized by surface roughness parameters, and why several of these parameters must be combined to form a vector roughness measurement. Next we propose a technique to localize and extract the intrinsic roughness from terrain elevation maps, and show how this can be used to characterize terrain.

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

Text Reference
Regis Hoffman and Eric Krotkov, "Terrain Roughness Measurement from Elevation Maps," SPIE Vol 1195 Mobile Robols IV, 1989.

BibTeX Reference
   author = "Regis Hoffman and Eric Krotkov",
   title = "Terrain Roughness Measurement from Elevation Maps",
   booktitle = "SPIE Vol 1195 Mobile Robols IV",
   year = "1989",