Fusion of gross satellite sensing and laser measurements by skyline map matching for autonomous unmanned vehicle navigation

Chi Neng Shen; Lance A. Page

doi:10.1117/12.21130

1 January 1990 Fusion of gross satellite sensing and laser measurements by skyline map matching for autonomous unmanned vehicle navigation

Chi Neng Shen, Lance A. Page

Author Affiliations +

Proceedings Volume 1293, Applications of Artificial Intelligence VIII; (1990) https://doi.org/10.1117/12.21130
Event: 1990 Technical Symposium on Optics, Electro-Optics, and Sensors, 1990, Orlando, FL, United States

Abstract

For autonomous navigation of an unmanned vehicle on a rough terrain such as the surface of Mars, two elevation maps are available: a gross terrain map from aerial surveying or satellite observations, and a local measurement map observed with sensors onboard the vehicle. One can estimate from the gross map the skyline and the visible region of the terrain. It also provides information of what the vehicle’s sensors can not see. However, the sensory measurements yield fine details of the terrain, such as obstacles, in-path and cross-path slopes. The skylines can also be estimated from these measurements. Both maps are used for path selection purposes, to provide it a wider supply of information than is available from either map by itself. The advantages of this are: (1) The “unseen” terrain features on the back of the hills, though only grossly estimated, are provided and can be taken into account by the path selection process. (2) The features “seen” by local measurements provide obstacle avoidance and are given primary consideration in the path selection process. The location of the autonomous vehicle on the gross map is to be estimated by employing the skylines as reference space curves. As the vehicle changes its location on the gross map, different skylines are estimated and are used in the stochastic matching of the two maps.

Citation Download Citation

Chi Neng Shen and Lance A. Page "Fusion of gross satellite sensing and laser measurements by skyline map matching for autonomous unmanned vehicle navigation", Proc. SPIE 1293, Applications of Artificial Intelligence VIII, (1 January 1990); https://doi.org/10.1117/12.21130

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