| Terrain Traversability Analysis Based on a Combined Fitting Plane/Triple-Line Model | |
| Gu, Xiaodong; Wang, Huaichao; Chen, Jun; An, Junshe; Chen, Xiaoming; Gu, XD (reprint author), Chinese Acad Sci, Ctr Space Sci & Appl Res, 1 NanErTiao, Beijing 100190, Peoples R China. | |
| Department | 空间技术部 |
| Source Publication | 2011 INTERNATIONAL CONFERENCE ON AEROSPACE ENGINEERING AND INFORMATION TECHNOLOGY (AEIT 2011) |
| 2011 | |
| Pages | 27-35 |
| Language | 英语 |
| ISBN | 978-988-19116-3-6 |
| Abstract | A stereo vision based rough terrain traversability analysis method for an autonomous planetary rover is presented and implemented it in a local terrain map. The method first defines a square terrain patch that overlays the cell along the steering direction for each cell in the local terrain map. For each terrain patch, a plane is fitted to the data points in the terrain patch using a least-square appro-ach when the residual of the fit is below the threshold and the fitting triple-line model is used to represent the terrain patch when the residual of the fitted plane is beyond the threshold. Compared with the fitting plane model, the combined fitting plane/triple-line model can represent the terrain patch accurately when the point set in the terrain patch actually describes a non-planar surface. The proposed model has been applied to real 3D data with promising results though the input 3D data are sparse and of varying accuracy.; A stereo vision based rough terrain traversability analysis method for an autonomous planetary rover is presented and implemented it in a local terrain map. The method first defines a square terrain patch that overlays the cell along the steering direction for each cell in the local terrain map. For each terrain patch, a plane is fitted to the data points in the terrain patch using a least-square appro-ach when the residual of the fit is below the threshold and the fitting triple-line model is used to represent the terrain patch when the residual of the fitted plane is beyond the threshold. Compared with the fitting plane model, the combined fitting plane/triple-line model can represent the terrain patch accurately when the point set in the terrain patch actually describes a non-planar surface. The proposed model has been applied to real 3D data with promising results though the input 3D data are sparse and of varying accuracy. |
| Keyword | Terrain Modeling Traversability Analysis Fitting Plane Model Fitting Triple-line Model |
| Conference Name | International Conference on Aerospace Engineering and Information Technology |
| Conference Date | MAY 05-06, 2011 |
| Conference Place | Beijing, PEOPLES R CHINA |
| Indexed By | CPCI |
| Document Type | 会议论文 |
| Identifier | http://ir.nssc.ac.cn/handle/122/2938 |
| Collection | 空间技术部 |
| Corresponding Author | Gu, XD (reprint author), Chinese Acad Sci, Ctr Space Sci & Appl Res, 1 NanErTiao, Beijing 100190, Peoples R China. |
| Recommended Citation GB/T 7714 | Gu, Xiaodong,Wang, Huaichao,Chen, Jun,et al. Terrain Traversability Analysis Based on a Combined Fitting Plane/Triple-Line Model[C]. SHAM SHUI PO:INT INDUSTRIAL ELECTRONIC CENTER,2011:27-35. |
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