Reliable perception of terrain slope and terrain traversability is a key-feature for any off-road unmanned ground vehicle, as well as for any Driver Assistance Systems designed to work in extreme environments, like mining. In this paper we want to present an innovative technique to build a 3D elevation map of the traversable terrain from a world's 3D dense data set, in real time. The 3D points are grouped into lateral and longitudinal equally spaced slices, then they are projected onto the corresponding slices' reference planes. The projections are then analyzed by a biologically inspired Optimization Algorithm able to segment points into terrains inlier and outlier; the resulting 2D terrain slopes represent an optimal terrain approximation along each slice. Finally, the 2D approximations are merged together, to create the overall 3D terrain surface. The algorithm has been successfully tested with 3D data provided by a stereo camera system mounted on a Cat® wheel loader operating in a mining environment.


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    Title :

    Real time 3D terrain elevation mapping using ants Optimization Algorithm and stereo vision


    Contributors:
    Cappalunga, A (author) / Cattani, S (author) / Broggi, A (author) / McDaniel, M S (author) / Dutta, S (author)


    Publication date :

    2010-06-01


    Size :

    3077173 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Real Time 3D Terrain Elevation Mapping Using Ants Optimization Algorithm and Stereo Vision, pp. 902-909

    Cappalunga, A. / Cattani, S. / Broggi, A. et al. | British Library Conference Proceedings | 2010


    Wide-baseline stereo vision for terrain mapping

    Olson, Clark F. / Abi-Rached, Habib | Tema Archive | 2010


    Wide-baseline stereo vision for terrain mapping

    Olson, C. F. / Abi-Rached, H. | British Library Online Contents | 2010


    Digital Terrain Elevation Mapping System

    Malliot, H. A. / IEEE; Aerospace and Electronics Systems Society | British Library Conference Proceedings | 1996


    Digital terrain elevation mapping system

    Malliot, H.A. | IEEE | 1996