3D reconstruction of rough terrain for USARSim using a height-map method

G. Roberts, S. Balakirsky, S. Foufou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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).

Original languageEnglish (US)
Title of host publicationPerformance Metrics for Intelligent Systems (PerMIS) Workshop - Proceedings of the PerMIS'08 Workshop
Pages259-264
Number of pages6
DOIs
StatePublished - 2008
Event8th Workshop on Performance Metrics for Intelligent Systems, PerMIS'08 - Gaithersburg, MD, United States
Duration: Aug 19 2008Aug 21 2008

Publication series

NamePerformance Metrics for Intelligent Systems (PerMIS) Workshop

Other

Other8th Workshop on Performance Metrics for Intelligent Systems, PerMIS'08
CountryUnited States
CityGaithersburg, MD
Period8/19/088/21/08

Keywords

  • 3D reconstruction
  • USARSim
  • height-map
  • point cloud
  • step-field

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering

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