Terrain Maps

Kweon & Kanade’92

Map structure:

• elevation map z = f(x,y)

• keep std. deviation in z

• tagged occluded cells

scan k-1

scan k

Local map k-1

INS

Matching

Local map k

Global map k-1

Global map k

Environment

Robot

Purpose

Natural Terrain

Planning

Navlab

Range-finder,

Stereo

• no assumptions

• easy sensor fusion

• incremental

• handles occlusions

• takes space

• local matching

• slow

• z=f(x,y)

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