Date of Original Version



Conference Proceeding

Published In

International Conference on Field and Service Robotics, 2003.

Rights Management

DOI 10.1007/10991459_11

Abstract or Table of Contents

In this paper, we investigate the use of high resolution aerial LADAR data for autonomous mobile robot navigation in natural environments. The use of prior maps from aerial LADAR (LAser Detection And Ranging) survey is considered for enhancing system performance in two areas. First, the prior maps are used for registration with the data from the robot in order to compute accurate localization in the map. Second, the prior maps are used for computing detailed traversability maps that are used for planning over long distances. Our objective is to assess the key issues in using such data and to report on a first batch of experiments in combining high-resolution aerial data and on-board sensing


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