NSSC OpenIR  > 空间技术部
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 Publication2011 INTERNATIONAL CONFERENCE ON AEROSPACE ENGINEERING AND INFORMATION TECHNOLOGY (AEIT 2011)
2011
Pages27-35
Language英语
ISBN978-988-19116-3-6
AbstractA 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.
KeywordTerrain Modeling Traversability Analysis Fitting Plane Model Fitting Triple-line Model
Conference NameInternational Conference on Aerospace Engineering and Information Technology
Conference DateMAY 05-06, 2011
Conference PlaceBeijing, PEOPLES R CHINA
Indexed ByCPCI
Document Type会议论文
Identifierhttp://ir.nssc.ac.cn/handle/122/2938
Collection空间技术部
Corresponding AuthorGu, 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.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Gu, Xiaodong]'s Articles
[Wang, Huaichao]'s Articles
[Chen, Jun]'s Articles
Baidu academic
Similar articles in Baidu academic
[Gu, Xiaodong]'s Articles
[Wang, Huaichao]'s Articles
[Chen, Jun]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Gu, Xiaodong]'s Articles
[Wang, Huaichao]'s Articles
[Chen, Jun]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.