Terrain Traversability Analysis Based on a Combined Fitting Plane/Triple-Line Model
Xiaodong Gu, Huaichao Wang, Jun Chen, Junshe An, Xiaohong Chen · 2011
A stereo vision based rough terrain traversability analysis method for an autonomous planetary rover is presented and implemented it in a local terrain map. The method first defines a square terrain patch that overlays the cell along the steering direction for each cell in the local terrain map. For each terrain patch, a plane is fitted to the data points in the terrain patch using a least-square appro-ach when the residual of the fit is below the threshold and the fitting triple-line model is used to represent the terrain patch when the residual of the fitted plane is beyond the threshold. Compared with the fitting plane model, the combined fitting plane/triple-line model can represent the terrain patch accurately when the point set in the terrain patch actually describes a non-planar surface. The proposed model has been applied to real 3D data with promising results though the input 3D data are sparse and of varying accuracy.