GIS applications have recently begun to emerge on the Internet. The management of three-dimensional geographic datasets in this distributed environment poses a particularly challenging problem, which highlights the need for a good data representation. This paper presents a new multiresolution data representation: the Wavelet Triangulated Irregular Network (WTIN). Compared to the traditional cel...

Digital Elevation Model (DEM) is a kind of method and means describing three-dimension terrain visualization in computer graphics and visualization. However, there are plenty of redundant data in DEM that is described by grid or TIN (triangulated Irregular Network). The main content of this paper is the study about 3D surface simplification in terrain visualization model based on triangulated n...

Wheel-based locomotion is the most commonly used by mobile robots, due to its simplicity and robustness. However, when facing uneven terrain, such as steps or rocky terrain, its mobility is greatly reduced. Biped robots, in contrast, have a greater adaptation potential to these challenges due to the suitability of its structure. In spite of this, the traditional biped locomotion methods used by...

Navigation of mobile robots in environments with irregular terrain is a challenging task for scientists and engineers because it involves 3D environment recognition and high order dynamics of the mobile robotic systems. One way to solve this problem is to use hybrid locomotion mechanisms. In this paper, we aim to establish a novel frame work for hybrid local planner which combines motion primit...

Terrain modeling usually requires some type of interpolation between the measured terrain points. Using modern airborne and spaceborne sensors, terrain point observations are becoming available in a variety of formats with widely differing characteristics. More importantly, the point distribution, accuracy and density can vary greatly, depending mostly on the sensor type and the data acquisitio...

In this paper we present the experimental results validating the approach for autonomous planetary exploration developed by the Canadian Space Agency (CSA). The goal of this work is to autonomously navigate to remote locations, well beyond the sensing horizon of the rover, with minimal interaction with a human operator. We employ LIDAR range sensors due to their accuracy, long range and robustn...

Terrain surfaces are often approximated by geometric meshes to permit eecient rendering. This paper describes how the complexity of an approximating irregular mesh can be varied across its domain in order to minimise the number of displayed facets while ensuring that the rendered surface meets predetermined resolution requirements. We rst present a generalised scheme to represent a mesh over a ...

Generating terrain models from contour input is still an important process. Most methods have been unsatisfactory, as they either do not preserve the form of minor ridges and valleys, or else they are poor at modelling slopes. A method is described here, based on curve extraction and generalization techniques, that is guaranteed to preserve the topological relationships between curve segments. ...