In this paper, we have described a technique for terrain traversability assessment modeling of mobile robots operating in natural terrain and presented a fast near-optimum algorithm for autonomous navigational path planning of mobile robots in rough terrain environments. The proposed method is based on visual sensing of terrain salient features and analysis of geo-location coordinates of the sa...

The paper presents results of a comparative study of the vegetation-caused elevation bias of the space shuttle topographic mission data product, both Cand X-band (SRTM.C/X). The SRTM.C/X bands data were compared against a high-resolution digital terrain model. Pixel-based differences in SRTM.X minus SRTM.C were correlated with land cover (‘agriculture’, ‘house’, ‘tree’, ‘water’). Findings of th...

In recent years, a number of decision-making frameworks have been developed to help European recreationists make better decisions in avalanche terrain. This study evaluated how well these frameworks might perform in North America by comparing four of them (the Reduction Method, NivoTest, Stop-or-Go, and the SnowCard) and one very simple decision strategy (based on obvious clues) against 33 year...

In this paper the accuracy of automatic DTM computation on the digital photogrammetric workstation DPW770 of LeicaHelava will be discussed. The software component of the photogrammetric System is the Softcopy Exploitation Tool (SOCET SET) by Helava, with module "Terrain". Basis for the investigation was a test data set (image scale 1:13000) of the Institute for Photogrammetrie of Stuttgart Univ...

For future planetary exploration missions, improvements in autonomous rover mobility have the potential to increase scientific data return by providing safe access to geologically interesting sites that lie in rugged terrain, far from landing areas. This thesis presents an algorithmic framework designed to improve rover-based terrain sensing, a critical component of any autonomous mobility syst...

We present an algorithm for eeciently computing ray intersections with multi-resolution global terrain partitioned by spheroidal height-augmented quadtrees. While previous methods support terrain deened on a Cartesian coordinate system, our methods support terrain deened on a two-parameter ellipsoidal coordinate system. This curvilin-ear system is necessary for an accurate model of global terra...

We present an algorithm for efficiently computing ray intersections with multi-resolution global terrain which is partitioned by spheroidal height-augmented quadtrees. While previous methods support terrain defined on a Cartesian coordinate system, our methods support terrain defined on a two-parameter ellipsoidal coordinate system. This curvilinear system is necessary for an accurate model of ...

This research conducted to evaluate spatial pattern of some biological variables (mean diameter, density, richness index and biodiversity index) of forest by linear regression models using terrain analysis in the Kheiroud-Kenar forest located at the Nowshahr, north of Iran. To obtain these parameters, sampling was performed on a systematic grid (250× 400 m) in 193 plots with one ha area. Densit...

Future planetary exploration missions will require rovers to traverse very rough terrain with limited human supervision. Wheel-terrain interaction plays a critical role in rough-terrain mobility. In this paper an on-line estimation method that identifies key terrain parameters using on-board rover sensors is presented. These parameters can be used for accurate traversability prediction or in a ...