3D Reconstruction of rough terrain for USARSim using a height-map method

Authors:
G. Roberts;S. Balakirsky;S. Foufou
Affiliations:
National Institute of Standards & Technology, Gaithersburg, MD;National Institute of Standards & Technology, Gaithersburg, MD;University of Burgundy, Dijon, France
Venue:
PerMIS '08 Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems
Year:
2008

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Abstract

In this paper, a process for a simplified reconstruction of rough terrains from point clouds acquired using laser scanners is presented. 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 means 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, a methodology to create several height-maps for the same terrain is described. Experimental results are shown using the high-fidelity physics-based framework for the Unified System for Automation and Robot Simulation (USARSim).