Skip to main content
U.S. flag

An official website of the United States government

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.

Terrain Characterization from Ground-Based LADAR

Published

Author(s)

Christoph J. Witzgall, Geraldine Cheok, David E. Gilsinn

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

Citation

Witzgall, C. , Cheok, G. and Gilsinn, D. (2003), Terrain Characterization from Ground-Based LADAR, Terrain Characterization from Ground-Based LADAR, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=860510 (Accessed March 3, 2024)
Created September 15, 2003, Updated October 12, 2021