Home/First Results in Terrain Mapping for a Roving Planetary Explorer

First Results in Terrain Mapping for a Roving Planetary Explorer

Eric Krotkov, C. Caillas, Martial Hebert, In So Kweon and Takeo Kanade
Conference Paper, Proc. NASA Conference on Space Telerobotics, January, 1989

Download Publication (PDF)

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author’s copyright. These works may not be reposted without the explicit permission of the copyright holder.

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.

BibTeX Reference
@conference{Krotkov-1989-15446,
title = {First Results in Terrain Mapping for a Roving Planetary Explorer},
author = {Eric Krotkov and C. Caillas and Martial Hebert and In So Kweon and Takeo Kanade},
booktitle = {Proc. NASA Conference on Space Telerobotics},
month = {January},
year = {1989},
}
2017-09-13T10:52:44+00:00