Problem-Dependent Transformations Of 3D Terrain Elevation Maps Into Cost Precursor Maps

Erik Tengvald; Erland Jungert

doi:10.1117/12.948962

5 January 1989 Problem-Dependent Transformations Of 3D Terrain Elevation Maps Into Cost Precursor Maps

Erik Tengvald, Erland Jungert

Proceedings Volume 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation; (1989) https://doi.org/10.1117/12.948962
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

In this paper a method intended for reducing the complexity of 3D path planning tasks, where such planning is restricted to terrain-going vehicles is described. Two classes of problems are addressed. Both classes share the property that different regions of terrain impose different costs during path traversal. The first problem class concerns traversal costs within a single region which are independent of the direction of motion. In the second problem class, however, costs within a single region vary depending upon the direction in which the vehicle is travelling. Hence, 3D terrain maps can be transformed into what here are called "cost precursor maps", which provides an abstraction of the 3D terrain information into a 2D reference frame.

Citation Download Citation

Erik Tengvald and Erland Jungert "Problem-Dependent Transformations Of 3D Terrain Elevation Maps Into Cost Precursor Maps", Proc. SPIE 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation, (5 January 1989); https://doi.org/10.1117/12.948962

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