Terrain mapping for a roving planetary explorer

@article{Hebert1989TerrainMF,
  title={Terrain mapping for a roving planetary explorer},
  author={Martial Hebert and Claude Caillas and Eric Krotkov and In-So Kweon and Takeo Kanade},
  journal={Proceedings, 1989 International Conference on Robotics and Automation},
  year={1989},
  pages={997-1002 vol.2}
}
The authors are prototyping a legged vehicle, the Ambler, for an exploratory mission on another planet, conceivably Mars, where it is to traverse uncharted areas and collect material samples. They describe how the rover can construct from range imagery a geometric terrain representation, i.e., elevation map that includes uncertainty, unknown areas, and local features. First, they present an algorithm for constructing an elevation map from a single range image. By virtue of working in spherical… CONTINUE READING

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