Analysis of terrain-map-matching using multisensing techniques for applications to autonomous vehicle navigation

Lance A. Page; Chi Neng Shen

doi:10.1117/12.25284

1 April 1991 Analysis of terrain map matching using multisensing techniques for applications to autonomous vehicle navigation

Lance A. Page, Chi Neng Shen

Author Affiliations +

Proceedings Volume 1383, Sensor Fusion III: 3D Perception and Recognition; (1991) https://doi.org/10.1117/12.25284
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

This paper describes skyline-based terrain matching, a new method for locating the vantage point of laser rangefinding measurements on a global map previously prepared by satellite or aerial mapping. Skylines can be extracted from the range-finding measurements and modelled from the global map, and are represented in parametric, cylindrical form with azimuth angle as the independent variable. The three translational parameters of the vantage point are determined with a three-dimensional matching of these two sets of skylines.

Citation Download Citation

Lance A. Page and Chi Neng Shen "Analysis of terrain map matching using multisensing techniques for applications to autonomous vehicle navigation", Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991); https://doi.org/10.1117/12.25284

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