Abstract
Terrain mapping has a many use cases in both land surveyance and autonomous vehicles. Popular methods generate occupancy maps over 3D space, which are sub-optimal in outdoor scenarios with large, clear spaces where gaps in LiDAR readings are common. A terrain can instead be modelled as a height map over 2D space which can iteratively be updated with incoming LiDAR data, which simplifies computation and allows missing points to be estimated based on the current terrain estimate. The latter point is of particular interest, since it can reduce the data collection effort required (and its associated costs) and current options are not suitable to real-time operation. In this work, we introduce a new method that is capable of performing such terrain mapping and inferencing tasks in real-time. We evaluate it with a set of mapping scenarios and show it is capable of generating maps with higher accuracy than an OctoMap-based method.
Original language | English |
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Title of host publication | Towards Autonomous Robotic Systems - 23rd Annual Conference, TAROS 2022, Proceedings |
Editors | Salvador Pacheco-Gutierrez, Alice Cryer, Ipek Caliskanelli, Harun Tugal, Robert Skilton |
Publisher | Springer Science and Business Media Deutschland GmbH |
Pages | 114-127 |
Number of pages | 14 |
ISBN (Print) | 9783031159077 |
DOIs | |
Publication status | Published - 1 Sept 2022 |
Event | 23rd Annual Conference Towards Autonomous Robotic Systems, TAROS 2022 - Culham, United Kingdom Duration: 7 Sept 2022 → 9 Sept 2022 |
Publication series
Name | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
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Volume | 13546 LNAI |
ISSN (Print) | 0302-9743 |
ISSN (Electronic) | 1611-3349 |
Conference
Conference | 23rd Annual Conference Towards Autonomous Robotic Systems, TAROS 2022 |
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Country/Territory | United Kingdom |
City | Culham |
Period | 7/09/22 → 9/09/22 |
Bibliographical note
Publisher Copyright:© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.