Abstract
A stereo vision based terrain traversability estimation method for offroad mobile robots is presented. The method models surrounding terrain using either sloped planes or a digital elevation model, based on the availability of suitable input data. This combination of two surface modeling techniques increases range and information content of the resulting terrain map.
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© 2008 Springer-Verlag Berlin Heidelberg
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Braun, T., Bitsch, H., Berns, K. (2008). Visual Terrain Traversability Estimation Using a Combined Slope/Elevation Model. In: Dengel, A.R., Berns, K., Breuel, T.M., Bomarius, F., Roth-Berghofer, T.R. (eds) KI 2008: Advances in Artificial Intelligence. KI 2008. Lecture Notes in Computer Science(), vol 5243. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-85845-4_22
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DOI: https://doi.org/10.1007/978-3-540-85845-4_22
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-85844-7
Online ISBN: 978-3-540-85845-4
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