3D Reconstruction of Rough Terrain for USARSim Using a Height-map Method

摘要

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.rnIn 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).