Terrain Traversability Analysis Based on a Combined Fitting Plane/Triple-Line Model

	Terrain Traversability Analysis Based on a Combined Fitting Plane/Triple-Line Model
	Gu, Xiaodong; Wang, Huaichao; Chen, Jun; An, Junshe; Chen, Xiaoming
	2011
会议名称	International Conference on Aerospace Engineering and Information Technology
会议日期	MAY 05-06, 2011
会议地点	Beijing, PEOPLES R CHINA
关键词	Terrain modeling Traversability analysis Fitting plane model Fitting triple-line model
页码	27-35
通讯作者	Gu, XD (reprint author), Chinese Acad Sci, Ctr Space Sci & Appl Res, 1 NanErTiao, Beijing 100190, Peoples R China.
中文摘要	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.
英文摘要	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.
收录类别	CPCI
会议主办者	Int Ind Elect Ctr Hong Kong, Opt Valley Software Park
会议录	2011 INTERNATIONAL CONFERENCE ON AEROSPACE ENGINEERING AND INFORMATION TECHNOLOGY (AEIT 2011)
会议录出版者	INT INDUSTRIAL ELECTRONIC CENTER
会议录出版地	SHAM SHUI PO
学科主题	空间技术
语种	英语
ISBN号	978-988-19116-3-6
内容类型	会议论文
源URL	[http://ir.nssc.ac.cn/handle/122/2938]
专题	国家空间科学中心_空间技术部
推荐引用方式 GB/T 7714	Gu, Xiaodong,Wang, Huaichao,Chen, Jun,et al. Terrain Traversability Analysis Based on a Combined Fitting Plane/Triple-Line Model[C]. 见:International Conference on Aerospace Engineering and Information Technology. Beijing, PEOPLES R CHINA. MAY 05-06, 2011.