Date of Original Version

1999

Type

Conference Proceeding

Abstract or Description

We discuss the problem of building large, high-resolution three-dimensional representations of unstructured terrain using terrestrial range sensors, which operate at the scale of meters to hundreds of meters. Issues specific to this sensing modality include widely varying resolution, absence of reliably detectable features, and very large data sets. We have developed a map building algorithm that registers and integrates sequences of range images, and we demonstrate its capabilities by building large terrain maps (260 x 166 meters) using ground-based and low-altitude terrestrial range sensors.

Comments

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Published In

Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS '99), 1121-1127.