Take a sneak peek at the new NIST.gov and let us know what you think!
(Please note: some content may not be complete on the beta site.).

View the beta site
NIST logo

Publication Citation: Terrain Characterization from Ground-Based LADAR

NIST Authors in Bold

Author(s): Christoph J. Witzgall; Geraldine S. Cheok; David E. Gilsinn;
Title: Terrain Characterization from Ground-Based LADAR
Published: September 16, 2003
Abstract: Test runs of Army Research Laboratory s (ARL) autonomous vehicle (Experimental Unmanned Vehicle, XUV) were followed by the acquisition of high resolution scans of selected regions of the test course. These scans were used to i) determine terrain features (e.g., heavy vegetation, ditches, etc.) which may hamper the autonomous navigation of the XUV and ii)develop the ability to quantify terrain features such as vegetation or roughness. Those tasks require determination of ground or bare earth , which is a major issue of ongoing research into terrain characterization. Point clouds collected by ground-based LADAR (laser distance and ranging) pose a particular challenge because they are extremely dense in close proximity to the instrument and progressively sparse at larger distances. This work focuses on the National Institute of Standards and Technology s (NIST) procedures for ground determination and the development of gauges for vegetation coverage and slope variability.
Citation: Terrain Characterization from Ground-Based LADAR
Keywords: autonomous vehicle,ground,LADAR,slope analysis,terrain characterization,triangulated irregular networks,vegetation coverage,vehicle mobility
Research Areas: Building and Fire Research
PDF version: PDF Document Click here to retrieve PDF version of paper (634KB)