The investigation addresses three main issues: The first concerns a study of the terrain relief classification for the purpose of composite sampling. The second issue concerns quality assessment models that are used to assess the quality of representa~ion pf ideal geometric primitives and of real terrain relief representation. The third issue concerns the performance of composite sampling when ...

Terrain analysis is the quantitative analysis of topographic surfaces. Most attempts at modeling landscapes have been unsuccessful because the landscape was either looked at in little details or the landscape was considered in two dimensions. The purpose of a digital terrain system is the digital representation of terrain so that environmental problem like soil erosion may be approached accurat...

Most terrain models are created based on a sampling of real-world terrain, and are represented using linearly-interpolated surfaces such as triangulated irregular networks or digital elevation models. The existing methods for the creation of such models and representations of real-world terrain lack a crucial analytical consideration of factors such as the errors introduced during sampling and ...

A mobile robot mounted with multiple sensors is used to rapidly collect 3D point clouds and video images so as to allow accurate terrain modeling. In this study, we develop a real-time terrain storage generation and representation system including a nonground point database (PDB), ground mesh database (MDB), and texture database (TDB). A voxel-based flag map is proposed for incrementally regist...

Successful off-road autonomous navigation by an unmanned ground vehicle (UGV) requires reliable perception and representation of natural terrain. While perception algorithms are used to detect driving hazards, terrain mapping algorithms are used to represent the detected hazards in a world model a UGV can use to plan safe paths. There are two primary ways to detect driving hazards with percepti...

Terrain modeling is a fast growing field with many applications such as computer graphics, resource management, Earth and environmental sciences, civil and military engineering, surveying and photogrammetry and games programming. One of the most widely used terrain model is the Digital Elevation Model (DEM). A DEM is a simple regularly spaced grid of elevation points that represent the continuo...

Photogrammetric UAV sees a surge in use for high-resolution mapping, but its use to map terrain under dense vegetation cover remains challenging due to a lack of exposed ground surfaces. This paper presents a novel object-oriented classification ensemble algorithm to leverage height, texture and contextual information of UAV data to improve landscape classification and terrain estimation. Its i...

Mobile robots have important applications in high speed, rough-terrain scenarios. In these scenarios, unexpected and hazardous situations can occur that require rapid hazard avoidance maneuvers. At high speeds, there is limited time to perform re-planning based on detailed vehicle and terrain models. Furthermore, detailed models often do not accurately predict the robot’s performance due to mod...

We present a statistical path loss model derived from 1.9 GHz experimental data collected across the United States in 95 existing macrocells. The model is for suburban areas, and it distinguishes between different terrain categories. Moreover, it applies to distances and base antenna heights not well-covered by existing models. The characterization used is a linear curve fitting the decibel pat...