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Extracting topographic features for outdoor mobile robots

机译:提取户外移动机器人的地形特征

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Methods are presented for building high-level terrain descriptions, referred as topographic maps, by extracting terrain features like peaks, pits, ridges, and ravines from the contour map. The resulting topographic map contains the location and type of terrain features as well as the ground topography. The authors develop new definitions for those topographic features based on the contour map. They build a contour map from an elevation map and generate the connectivity tree of all regions separated by the contours. The authors use this connectivity tree, called a topographic change tree, to extract the topographic features. Experimental results on a digital elevation model support the definitions for topographic features and the approach.
机译:提出了通过从轮廓图中提取像峰值,凹坑,脊和沟壑的地形特征来构建高级地形描述,称为地形图。 得到的地形图包含地形功能的位置和类型以及地形地形。 作者基于轮廓图,为这些地形特征开发了新的定义。 它们从高度贴图构建一个轮廓图,并生成由轮廓分隔的所有区域的连接树。 作者使用此连接树称为地形更改树,以提取地形特征。 数字高度模型的实验结果支持地形特征的定义和方法。

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