@inproceedings{8b52df67336e42e88eb4d2d6c53d71ef,
title = "3D reconstruction of rough terrain for USARSim using a height-map method",
abstract = "In this paper, a process for a simplified reconstruction of rough terrains from point clouds acquired using laser scanners is presented. The main idea of this work is to build height-maps which are level gray-scale images representing the ground elevation. These height-maps are generated from step-fields which can be represented by a set of side-by-side pillars. Although height-maps are a practical means for rough terrain reconstruction, it is not possible to represent two different elevations for a given location with one height-map. This is an important drawback as terrain point clouds can show different zones representing surfaces above other surfaces. In this paper, a methodology to create several height-maps for the same terrain is described. Experimental results are shown using the high-fidelity physics-based framework for the Unified System for Automation and Robot Simulation (USARSim).",
keywords = "3D reconstruction, USARSim, height-map, point cloud, step-field",
author = "G. Roberts and S. Balakirsky and S. Foufou",
year = "2008",
doi = "10.1145/1774674.1774715",
language = "English (US)",
isbn = "9781605582931",
series = "Performance Metrics for Intelligent Systems (PerMIS) Workshop",
pages = "259--264",
booktitle = "Performance Metrics for Intelligent Systems (PerMIS) Workshop - Proceedings of the PerMIS'08 Workshop",
note = "8th Workshop on Performance Metrics for Intelligent Systems, PerMIS'08 ; Conference date: 19-08-2008 Through 21-08-2008",
}