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- W2563454672 abstract "Environment mapping is a key component of autonomous navigation. In order to distinguish low obstacles from uneven ground, the shape of the ground surface has to be represented and estimated within the environment model. Elevation mapping is a computationally efficient approach that represents ground heights as well as obstacle heights without classification in a single model. This paper presents a novel approach for lidar-based elevation mapping that does not only use reflection points but combines reflections and three-dimensional ray geometry from different measurements directly in the height estimation process. Especially vehicles using low mounted lidar sensors with narrow vertical field of view benefit from an increased reliability and environment coverage. The approach is described from a theoretical concept to a scalable realization and first real test case results are shown." @default.
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- W2563454672 date "2016-11-01" @default.
- W2563454672 modified "2023-09-25" @default.
- W2563454672 title "Local elevation mapping based on low mounted lidar sensors with narrow vertical field of view" @default.
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- W2563454672 doi "https://doi.org/10.1109/itsc.2016.7795617" @default.
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