D. Gingras, T. Lamarche, Jean-Luc Bedwani, E. Dupuis
{"title":"Rough Terrain Reconstruction for Rover Motion Planning","authors":"D. Gingras, T. Lamarche, Jean-Luc Bedwani, E. Dupuis","doi":"10.1109/CRV.2010.32","DOIUrl":null,"url":null,"abstract":"A two-step approach is presented to generate a 3D navigable terrain model for robots operating in natural and uneven environment. First an unstructured surface is built from a 360 degrees field of view LIDAR scan. Second the reconstructed surface is analyzed and the navigable space is extracted to keep only the safe area as a compressed irregular triangular mesh. The resulting mesh is a compact terrain representation and allows point-robot assumption for further motion planning tasks. The proposed algorithm has been validated using a large database containing 688 LIDAR scans collected on an outdoor rough terrain. The mesh simplification error was evaluated using the approximation of Hausdorff distance. In average, for a compression level of 93.5%, the error was of the order of 0.5 cm. This terrain modeler was deployed on a rover controlled from the International Space Station (ISS) during the Avatar Explore Space Mission carried out by the Canadian Space Agency in 2009.","PeriodicalId":358821,"journal":{"name":"2010 Canadian Conference on Computer and Robot Vision","volume":"166 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"38","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 Canadian Conference on Computer and Robot Vision","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CRV.2010.32","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 38
Abstract
A two-step approach is presented to generate a 3D navigable terrain model for robots operating in natural and uneven environment. First an unstructured surface is built from a 360 degrees field of view LIDAR scan. Second the reconstructed surface is analyzed and the navigable space is extracted to keep only the safe area as a compressed irregular triangular mesh. The resulting mesh is a compact terrain representation and allows point-robot assumption for further motion planning tasks. The proposed algorithm has been validated using a large database containing 688 LIDAR scans collected on an outdoor rough terrain. The mesh simplification error was evaluated using the approximation of Hausdorff distance. In average, for a compression level of 93.5%, the error was of the order of 0.5 cm. This terrain modeler was deployed on a rover controlled from the International Space Station (ISS) during the Avatar Explore Space Mission carried out by the Canadian Space Agency in 2009.