3D Reconstruction of Rough Terrain for USARSim Using a Height-map Method
Gael Roberts, Stephen B. Balakirsky, Sebti Foufou
In this paper, we present a process for a simplified reconstruction of rough terrains from point clouds acquired using laser scanners. The main idea of this work is to build height-maps which are level gray-scale images representing the ground elevation. These height-maps are generated from step-fields which can be represented by a set of side-by-side pillars. Although height-maps are a practical mean for rough terrain reconstruction, it is not possible to represent two different elevations for a given location with one height-map. This is an important drawback as terrain point clouds can show different zones representing surfaces above other surfaces. In this paper, we describe a methodology to create several heightmaps for the same terrain. We show some experimental results using the high-fidelity physics-based framework for the Unified System for Automation and Robot Simulation (USARSim).
Proceedings of the 2008 Performance Metrics for Intelligent Systems (PerMIS) Workshop
3D Reconstruction, height-map, step-field, point cloud, USARSim
, Balakirsky, S.
and Foufou, S.
3D Reconstruction of Rough Terrain for USARSim Using a Height-map Method, Proceedings of the 2008 Performance Metrics for Intelligent Systems (PerMIS) Workshop, Gaithersburg, MD, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=824726
(Accessed October 3, 2023)