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Proceedings Paper

Problem-Dependent Transformations Of 3D Terrain Elevation Maps Into Cost Precursor Maps
Author(s): Erik Tengvald; Erland Jungert
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Paper Abstract

In this paper a method intended for reducing the complexity of 3D path planning tasks, where such planning is restricted to terrain-going vehicles is described. Two classes of problems are addressed. Both classes share the property that different regions of terrain impose different costs during path traversal. The first problem class concerns traversal costs within a single region which are independent of the direction of motion. In the second problem class, however, costs within a single region vary depending upon the direction in which the vehicle is travelling. Hence, 3D terrain maps can be transformed into what here are called "cost precursor maps", which provides an abstraction of the 3D terrain information into a 2D reference frame.

Paper Details

Date Published: 5 January 1989
PDF: 9 pages
Proc. SPIE 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation, (5 January 1989); doi: 10.1117/12.948962
Show Author Affiliations
Erik Tengvald, Linkoping University (Sweden)
Erland Jungert, Swedish Defense Research Establishment (FOA) (Sweden)

Published in SPIE Proceedings Vol. 1003:
Sensor Fusion: Spatial Reasoning and Scene Interpretation
Paul S. Schenker, Editor(s)

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