Sensor Based Terrain Acquisition: A New, Hierarchical Algorithm And A Basic Theory
Aswin C. Sankaranarayanan, Isao Masuda · 2005
The problem of making a map of an unknown scene containing objects of arbitrary shapes is considered. A specific formulation of the terrain acquisition problem due to Lumelsky et al. is investigated. The motivation is to develop efflcient new algorithms and understand the basics of the problem. A new, generalized algorithm GenTer is developed. Varying a parameter (Y in GenTer produces a family of algorithms. A particular version of the generalized algorithm, called Terl, performs better on the average than the existing algorithm, the Sightseer Strategy. Terl offers a new feature called the Hierarchical Map Making, through which a good approximate map can be efflciently created.