This article presents an algorithm that determines safe motions for an articulated rover on rough terrains. It relies on the evaluation of a set of elementary trajectories on a digital elevation map built as the rover moves. The algorithm relies on the explicit computation of geometric constraints on the rover chassis. It has been integrated within a continuously running navigation loop on boar...

a watermarking scheme for grayscale image isproposed based on a family of the chaotic maps and discretecosine transform. jacobian elliptic mapis employed to encrypt ofwatermarked logo. piecewise nonlinear chaotic map is also usedto determine the location of dct coefficients for the watermarkembedding. the purpose of this algorithm is to improve theshortcoming of watermarking such as small key s...

In this paper, the El-Hames empirical method was used to determine the peak runoff flow in Iranshahr catchment. The El-Hames method is based on morphological parameters and SCS Curve Number of the studied area. The implementing was processed by collecting the required data including soil type and vegetation cover, land use maps, digital elevation model and satellite images from the associated i...

This paper is continuation work of a research started in 2005. In the previous research, variety of fuzzy digital elevation models was constructed and the best fit model was selected in order to present an alternative in modelling height information. The previous study revealed that fuzzy digital elevation model gave satisfied result compared with the result from TIN (Triangulated Irregular Net...

This paper describes a method to automatically construct a 3D geometric model of an urban area by merging features extracted from a cadastral map of the area and from the corresponding digital elevation model (Dem). The cadastral map and the Dem are both transformed into two sets of contour segments: The segments extracted from the map represent contours of buildings and blocks of buildings, wh...