We present Voxel Column Culling, an occlusion culling algorithm for real−time rendering of large terrain models. This technique can greatly reduce the number of polygons that must be rendered every frame, allowing a larger piece of terrain to be rendered at an interactive frame−rate. This is accomplished by using a form of 3D cell−based occlusion culling. A visibility table for the terrain mode...

To enable safe use of Synthetic Vision Systems at low altitudes, real-time range-to-terrain measurements may be required to ensure the integrity of terrain models stored in the system. This paper reviews and extends previous work describing the application of x-band radar to terrain model integrity monitoring. A method of terrain feature extraction and a transformation of the features to a comm...

Due to the varying terrain conditions in outdoor scenarios the kinematics of mobile robots is much more complex compared to indoor environments. In this paper we present an approach to predict future positions of mobile robots which considers the current terrain. Our approach uses Gaussian process regression (GPR) models to estimate future robot positions. An unscented Kalman filter (UKF) is us...

Multiresolution terrain models allow the extraction of the surface at different levels of details. Real terrain data is large enough to prevent from real-time walk-through at a reasonable level of detail. Moreover, a coarse view of a terrain may not attend some application requirements. Therefore extracting the surface at variable resolution may offer impressive good-looking views if, for insta...

A geographic information system ~GIS! based approach is presented for the development of a terrain model based on stream channel representation of the U. S. Army Corps of Engineers Hydrologic Engineering Center’s River Analysis System ~HEC-RAS! hydraulic model. As input, the approach requires a completed HEC-RAS simulation, a digital elevation model ~DEM!, and a GIS representation of the stream...

This paper presents a simulation procedure for generating a gait pattern and lateral motion sequence of a six legged robot. Gait pattern was studied and presented in the horizontal plane while lateral motion sequences were analyzed in the sagittal plane. Both analytical and graphical methods are used to study and to present gait and motion analysis over level terrain. Walking over level terrain...

Enabling high speed navigation of Unmanned Ground Vehicles (UGVs) in unknown rough terrain where limited or no information is available in advance requires the assessment of terrain in front of the UGV. Attempts have been made to predict the forces the terrain exerts on the UGV for the purpose of determining the maximum allowable velocity for a given terrain. However, current methods produce ov...

We deal with the problem of learning probabilistic models of terrain surfaces from sparse and noisy elevation measurements. The key idea is to formalize this as a regression problem and to derive a solution based on nonstationary Gaussian processes. We describe how to achieve a sparse approximation of the model, which makes the model applicable to real-world data sets. The main benefits of our ...

Much research has been put forth towards detection, correlating, and prediction of cyber attacks in recent years. As this set of research progresses, there is an increasing need for contextual information of a computer network to provide an accurate situational assessment. Typical approaches adopt contextual information as needed; yet such ad hoc effort may lead to unnecessary or even conflicti...

To solve the problem of three-dimensional terrain simplification in large-scale based on digital elevation model data, a terrain simplified method based on the theory of spatial autocorrelation was proposed. According to principle of regional similarities in geomorphology, a cluster analysis was performed on the terrain data to get the thresholds distinguish terrain features. On the basis, the ...