1 May 1993 Terrain following and mapping of arbitrary surfaces using high-precision proximity data
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Abstract
Many robotic operations, e.g. , mapping, scanning, feature following, etc. , require accurate surface following of arbitrary targets. A versatile surface-following and mapping system using a very high precision "eye-in-hand" proximity sensor, designed to provide hardware, software, and application independence, modular development, and upward expandability, is presented. These goals are met by a full a priori specification of the hardware and software interfaces; a modular system architecture; and a hierarchical surface-data analysis method, permitting application-specific tuning at each conceptual level of topological abstraction. This surface-following system was fully designed and implemented independent of any specific robotic host and then successfully integrated with and demonstrated on two very dissimilar real-time robotic systems. Presented in detail are the hardware and software architectures, the mapping and terrain forecasting algorithms, and the applications' environments and task requirements.
James E. Baker, "Terrain following and mapping of arbitrary surfaces using high-precision proximity data," Optical Engineering 32(5), (1 May 1993). https://doi.org/10.1117/12.133328 . Submission:
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