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Visual Terrain Traversability Estimation Using a Combined Slope/Elevation Model

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KI 2008: Advances in Artificial Intelligence (KI 2008)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5243))

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Abstract

A stereo vision based terrain traversability estimation method for offroad mobile robots is presented. The method models surrounding terrain using either sloped planes or a digital elevation model, based on the availability of suitable input data. This combination of two surface modeling techniques increases range and information content of the resulting terrain map.

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Authors and Affiliations

  1. University of Kaiserslautern,  

    Tim Braun, Henning Bitsch & Karsten Berns

Authors
  1. Tim Braun
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  2. Henning Bitsch
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  3. Karsten Berns
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Editor information

Andreas R. Dengel Karsten Berns Thomas M. Breuel Frank Bomarius Thomas R. Roth-Berghofer

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© 2008 Springer-Verlag Berlin Heidelberg

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Braun, T., Bitsch, H., Berns, K. (2008). Visual Terrain Traversability Estimation Using a Combined Slope/Elevation Model. In: Dengel, A.R., Berns, K., Breuel, T.M., Bomarius, F., Roth-Berghofer, T.R. (eds) KI 2008: Advances in Artificial Intelligence. KI 2008. Lecture Notes in Computer Science(), vol 5243. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-85845-4_22

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  • DOI: https://doi.org/10.1007/978-3-540-85845-4_22

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-85844-7

  • Online ISBN: 978-3-540-85845-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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