A novel filter for terrain mapping with laser rangefinders

This paper introduces a novel filter for terrain mapping with a two-dimensional laser rangefinder. The filter, called the certainty-assisted spatial (CAS) filter, uses the physical constraints on motion continuity and spatial continuity to identify corrupted pixels and missing data in an elevation m...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 20; no. 5; pp. 913 - 923
Main Authors:	Cang Ye, Borenstein, J.
Format:	Journal Article
Language:	English
Published:	New York, NY IEEE 01.10.2004 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Applied sciences Computer science; control theory; systems Content addressable storage Continuity Control theory. Systems Elevation Exact sciences and technology Filtering Filters Fundamental areas of phenomenology (including applications) Laser beams Laser theory Lasers Least squares approximation Missing data Mobile robots Navigation Navigation systems Optical elements, devices, and systems Optics Outdoor Physics Pixels Preserves Range finders, remote sensing devices, laser doppler velocimeters, sar, and lidar Robotics Robots Terrain mapping Vehicles Filtering Indoor installation Moving robot Laser range finder Terrain mapping
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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