TY - GEN
T1 - High resolution digital elevation modeling with on-vehicle sensors
AU - Liang, Mengyang
AU - Xu, Chi
AU - Xie, Yangmin
AU - Alleyne, Andrew
N1 - Publisher Copyright:
Copyright © 2014 by ASME.
PY - 2014
Y1 - 2014
N2 - High resolution elevation mapping is useful for precise field operations. To achieve a good operation performance, the requirement of the field shape accuracy can be centimeter-level in some tasks. This paper presents a method of conducting high resolution elevation mapping with vehicle-borne sensors. To achieve this purpose, a laser range sensor obtains geometric information of the ground surface while an Inertial Navigation System (INS) and vision sensor provide high resolution measurements of the moving vehicle's current location and attitude. The high frequency information from the INS captures the vehicle dynamics, and the low frequency vision sensor data enables vehicle self-localization by eliminating drift error in the INS measurements. A test run of this system was conducted experimentally. And the inclusion of vision-based measurements was shown to improve the accuracy of the ground elevation comparing with an INS-only method.
AB - High resolution elevation mapping is useful for precise field operations. To achieve a good operation performance, the requirement of the field shape accuracy can be centimeter-level in some tasks. This paper presents a method of conducting high resolution elevation mapping with vehicle-borne sensors. To achieve this purpose, a laser range sensor obtains geometric information of the ground surface while an Inertial Navigation System (INS) and vision sensor provide high resolution measurements of the moving vehicle's current location and attitude. The high frequency information from the INS captures the vehicle dynamics, and the low frequency vision sensor data enables vehicle self-localization by eliminating drift error in the INS measurements. A test run of this system was conducted experimentally. And the inclusion of vision-based measurements was shown to improve the accuracy of the ground elevation comparing with an INS-only method.
UR - http://www.scopus.com/inward/record.url?scp=84929340516&partnerID=8YFLogxK
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U2 - 10.1115/dscc2014-6123
DO - 10.1115/dscc2014-6123
M3 - Conference contribution
AN - SCOPUS:84929340516
T3 - ASME 2014 Dynamic Systems and Control Conference, DSCC 2014
BT - Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems
PB - American Society of Mechanical Engineers
T2 - ASME 2014 Dynamic Systems and Control Conference, DSCC 2014
Y2 - 22 October 2014 through 24 October 2014
ER -