journal contribution posted on 01.01.1999, 00:00 by Daniel F. Huber, Martial Hebert
We discuss the problem of building large, high-resolution
three-dimensional representations of unstructured terrain
using terrestrial range sensors, which operate at the scale
of meters to hundreds of meters. Issues specific to this
sensing modality include widely varying resolution,
absence of reliably detectable features, and very large data
sets. We have developed a map building algorithm that
registers and integrates sequences of range images, and we
demonstrate its capabilities by building large terrain maps
(260 x 166 meters) using ground-based and low-altitude
terrestrial range sensors.
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