Terrain Roughness Measurement from Elevation Maps
نویسنده
چکیده
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 parameten must be combined to form a vector roughness measurement. Next we propose a techniqne to localize and extract the intrinsic roughness from terrain elevation maps, and show how this can be used to chmcterizt terrain. Keyworb: Terrain analysis, surface roughness, mobile robots.
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