Terrain modeling for mobile robot control using cross-section curves in nested multi-resolution grids
Valentin E. Pryanichnikov, Egor Shipovalov · Annals of DAAAM for ... & proceedings of the ... International DAAAM Symposium · 2016
A digital terrain model is a key component of field mobile robot's control system.However, the principles of surface representation on which today's popular models are based suffer from a number of deficiencies.These include excessive memory requirements, computational expensiveness of basic operations, inability to adequately represent certain types of surfaces and lack of semantic information.In this paper we propose a method of describing terrains based on a fusion of nested multi-resolution elevation grids and cross-sections of common surface elements.The resulting model, while retaining positive characteristics of traditional elevation grids, offers lower memory consumption, faster height lookup times and natural support for vertical surfaces.It also contains basic semantic information and can be defined in a compact human-readable format.