Uncertainty-Based Vibration/Gyro Composite Planetary Terrain Mapping

Terrain mapping for a walking planetary rover

Projective Grid Mapping for Planetary Terrain

Visualizing planetary terrain presents unique challenges not found in traditional terrain visualization: displaying features that rise from behind the horizon on a curved surface; rendering near and far surfaces with large differences in scale; and using appropriate map projections, especially near the poles. Projective Grid Mapping (PGM) is a hybrid terrain rendering technique that combines ra...

Terrain mapping for a roving planetary explorer

The Canadian planetary emulation terrain 3D mapping dataset

This paper describes a collection of 272 three-dimensional laser scans gathered at two unique planetary analogue rover test facilities in Canada, which offer emulated planetary terrain at manageable scales for algorithmic development. This dataset is subdivided into four individual subsets, each gathered using panning laser rangefinders on different mobile rover platforms. This data should be o...

Results in Terrain Mapping for a Walking Planetary Rover

Abstmct We present results from a tarain mapping system for walking robots that constructs quantitative models of surface gwmetry. The accuracy of the constructed maps enables safe, powercfficient locomotion over the natural, rugged terrain found on planetary surfaces. The mapping system acquires range images with a laser rangefinder, preprocesses and stores the images, and constructs elevation...