10 October 1994 Triangular mesh model for natural terrain
Author Affiliations +
Abstract
Planetary exploration is a new challenge in the field of space robotics. Most of the topographic information available today about planetary surfaces was gathered either by orbiters or stationary landers. The use of an autonomous rover capable of building detailed maps of unstructured natural terrains would be more relevant, in the long term, for such space exploration missions. This paper presents a natural terrain model to represent and analyze the information gathered by an exploration rover using 3D computer vision. Irregular triangular meshes are suitable for the representation of amorphous natural terrain and could easily adapt to its irregular nature. The triangular terrain model presented captures both the range and the intensity information of the planetary scenes, enabling the modeling of topographic features at different resolution levels and the construction of conceptual topologic maps. In this paper, we first provide a compact representation for the rugged terrain scenes, and then use the resulting topographic maps to assist visual navigation of an autonomous exploration rover. The symbolic topologic maps can be used for the strategic planning of the exploration mission and reasoning about its various alternatives.
© (1994) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Reda Ezzat Fayek, Reda Ezzat Fayek, Andrew K. C. Wong, Andrew K. C. Wong, } "Triangular mesh model for natural terrain", Proc. SPIE 2353, Intelligent Robots and Computer Vision XIII: Algorithms and Computer Vision, (10 October 1994); doi: 10.1117/12.188882; https://doi.org/10.1117/12.188882
PROCEEDINGS
10 PAGES


SHARE
RELATED CONTENT

Visualizing uncertainty of river model ensembles
Proceedings of SPIE (February 08 2015)
APMOD: a graphical PC-based preprocessor for APART/PADE
Proceedings of SPIE (February 12 1993)
Toward a logical reconstruction of image retrieval
Proceedings of SPIE (March 13 1996)
Encouraging coupled views for visualization exploration
Proceedings of SPIE (March 25 1999)
Multiple view and multiform visualization
Proceedings of SPIE (February 28 2000)

Back to Top