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Proceedings Paper

Analysis of terrain-map-matching using multisensing techniques for applications to autonomous vehicle navigation
Author(s): Lance A. Page; Chi Neng Shen
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Paper Abstract

This paper describes skyline-based terrain matching, a new method for locating the vantage point of laser rangefinding measurements on a global map previously prepared by satellite or aerial mapping. Skylines can be extracted from the range-finding measurements and modelled from the global map, and are represented in parametric, cylindrical form with azimuth angle as the independent variable. The three translational parameters of the vantage point are determined with a three-dimensional matching of these two sets of skylines.

Paper Details

Date Published: 1 April 1991
PDF: 12 pages
Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991); doi: 10.1117/12.25284
Show Author Affiliations
Lance A. Page, Rensselaer Polytechnic Institute (United States)
Chi Neng Shen, Rensselaer Polytechnic Institute (United States)

Published in SPIE Proceedings Vol. 1383:
Sensor Fusion III: 3D Perception and Recognition
Paul S. Schenker, Editor(s)

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