A Comparative Study on Ground Surface Reconstruction for Rough Terrain Exploration

Obtaining information about foreseeing terrain is an important technique for mobile robot navigation in unstructured terrain. There are several methods proposed in the literature which try to extract the geometrical models of ground surfaces efficiently. This paper categorizes the conventional ground approximation methods into three types, and presents the conceptual and performance differences thorough synthetic and real data analysis. The results demonstrate the effectiveness of previous and newly developed techniques, and also provide discussions which will be useful in the design of terrain modeling as a step of mobile robot navigation.

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