| in Terrain Ma ping Planetary Exp 7 orer (2007) | |||||||||||||
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| Abstract * To perform planetary exploration without human supervision, a complete autonomous rover must be able to model its environment while exploring its surroundings. We present a new algorithm to consuuct a geomemc terrain representation from a single range image. The form of the representation is an elevation map that includes uncertainty, unknown areas, and local features. By virtue of working in spherical-polar space, the algorithm is independent of the desired map nsolution and the orientation of the sensor, unlike other algorithms that work in Cartesian space; We also describe new methods to evaluate regions of the constructed elevation maps to support legged locomotion over rough tcrrain. 1 | |||||||||||||
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