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Proceedings Paper

Fusion of gross satellite sensing and laser measurements by skyline map matching for autonomous unmanned vehicle navigation
Author(s): Chi Neng Shen; Lance A. Page
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Paper Abstract

For autonomous navigation of an unmanned vehicle on a rough terrain such as the surface of Mars, two elevation maps are available: a gross terrain map from aerial surveying or satellite observations, and a local measurement map observed with sensors onboard the vehicle. One can estimate from the gross map the skyline and the visible region of the terrain. It also provides information of what the vehicle’s sensors can not see. However, the sensory measurements yield fine details of the terrain, such as obstacles, in-path and cross-path slopes. The skylines can also be estimated from these measurements. Both maps are used for path selection purposes, to provide it a wider supply of information than is available from either map by itself. The advantages of this are: (1) The “unseen” terrain features on the back of the hills, though only grossly estimated, are provided and can be taken into account by the path selection process. (2) The features “seen” by local measurements provide obstacle avoidance and are given primary consideration in the path selection process. The location of the autonomous vehicle on the gross map is to be estimated by employing the skylines as reference space curves. As the vehicle changes its location on the gross map, different skylines are estimated and are used in the stochastic matching of the two maps.

Paper Details

Date Published: 1 January 1990
PDF: 12 pages
Proc. SPIE 1293, Applications of Artificial Intelligence VIII, (1 January 1990); doi: 10.1117/12.21130
Show Author Affiliations
Chi Neng Shen, Rensselaer Polytechnic Institute (United States)
Lance A. Page, Rensselaer Polytechnic Institute (United States)


Published in SPIE Proceedings Vol. 1293:
Applications of Artificial Intelligence VIII
Mohan M. Trivedi, Editor(s)

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