System and method for the creation of a terrain density model
First Claim
Patent Images
1. A method of constructing a density map for local terrain comprising the steps of:
- dividing said local terrain into a grid of cells;
obtaining readings for at least a portion of said cells from one or more environmental sensors;
providing a vector for each of said cells in said grid for which readings are available, said vector representing the density of the terrain represented by each of said cells.
1 Assignment
0 Petitions
Accused Products
Abstract
A system and method of constructing a density map is disclosed. The density map is a cellular grid representing local terrain, wherein each cell contains a density vector representing the density of portion of the terrain corresponding to the cell. The density map can be used to classify and characterize the surrounding terrain, which is useful in making a determination of the traversability of the terrain to mobile vehicles.
113 Citations
23 Claims
-
1. A method of constructing a density map for local terrain comprising the steps of:
-
dividing said local terrain into a grid of cells;
obtaining readings for at least a portion of said cells from one or more environmental sensors;
providing a vector for each of said cells in said grid for which readings are available, said vector representing the density of the terrain represented by each of said cells. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
-
-
17. An apparatus for assisting the autonomous navigation of a mobile vehicle comprising:
-
one or more environmental sensors mounted on said vehicle;
a processor programmed to receive data readings from said one or more sensors; and
software for constructing a density map based on said readings;
wherein said density map contains cells representing physical areas in the local terrain surrounding said vehicle and further wherein each of said cells contains at least a minimum terrain elevation and a density vector. - View Dependent Claims (18, 19, 20, 21, 22, 23)
-
Specification