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Proceedings Paper

Terrain Roughness Measurement from Elevation Maps
Author(s): Regis Hoffman; Eric Krotkov
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Paper Abstract

The Autonomous Planetary Rover Project at Carnegie Mellon University is investigating the use of geometric information obtained from terrain elevation maps for mobile robot planning and control. We review how surface geometry has been characterized by surface roughness parameters, and why several of these parameters must be combined to form a vector roughness measurement. Next we propose a technique to localize and extract the intrinsic roughness from terrain elevation maps, and show how this can be used to characterize terrain.

Paper Details

Date Published: 1 March 1990
PDF: 11 pages
Proc. SPIE 1195, Mobile Robots IV, (1 March 1990); doi: 10.1117/12.969874
Show Author Affiliations
Regis Hoffman, Carnegie Mellon University (United States)
Eric Krotkov, Carnegie Mellon University (United States)

Published in SPIE Proceedings Vol. 1195:
Mobile Robots IV
Wendell H. Chun; William J. Wolfe, Editor(s)

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