Search

Identifying terrain parameters is important for high-fidelity simulation and high-performance control of planetary rovers. The wheel–terrain interaction classes (WTICs) are usually different for rovers traversing various types of terrain. Every terramechanics model corresponds to its wheel–terrain interaction class (WTIC). Therefore, for terrain parameter identification of the terramechanics model when rovers traverse various terrains, terramechanics model switching corresponding to the WTIC needs to be solved. This paper proposes a speed-independent vibration-based method for WTIC recognition to switch the terramechanics model and then identify its terrain parameters. In order to switch terramechanics models, wheel–terrain interactions are divided into three classes. Three vibration models of wheels under three WTICs have been built and analyzed. Vibration features in the models are extracted and non-dimensionalized to be independent of wheel speed. A vibration-feature-based recognition method of the WTIC is proposed. Then, the terrain parameters of the terramechanics model corresponding to the recognized WTIC are identified. Experiment results obtained using a Planetary Rover Prototype show that the identification method of terrain parameters is effective for rovers traversing various terrains. The relative errors of estimated wheel–terrain interaction force with identified terrain parameters are less than 16%, 12%, and 9% for rovers traversing hard, gravel, and sandy terrain, respectively. [ABSTRACT FROM AUTHOR]

This study presents a comparison of data acquired from three LiDAR sensors from different manufacturers, i.e., Yellow Scan Mapper (YSM), AlphaAir 450 Airborne LiDAR System CHC Navigation (CHC) and DJI Zenmuse L1 (L1). The same area was surveyed with laser sensors mounted on the DIJ Matrice 300 RTK UAV platform. In order to compare the data, a diverse test area located in the north-western part of the Lublin Province in eastern Poland was selected. The test area was a gully system with high vegetation cover. In order to compare the UAV information, LiDAR reference data were used, which were collected within the ISOK project (acquired for the whole area of Poland). In order to examine the differentiation of the acquired data, both classified point clouds and DTM products calculated on the basis of point clouds acquired from individual sensors were compared. The analyses showed that the largest average height differences between terrain models calculated from point clouds were recorded between the CHC sensor and the base data, exceeding 2.5 m. The smallest differences were recorded between the L1 sensor and ISOK data—RMSE was 0.31 m. The use of UAVs to acquire very high resolution data can only be used locally and must be subject to very stringent landing site preparation procedures, as well as data processing in DTM and its derivatives. [ABSTRACT FROM AUTHOR]

Advanced in the present paper is an innovative approach for three-dimensional modeling of the regular relief topography formed via a ball burnishing process. The proposed methodology involves capturing a greyscale image of and profile measuring the surface topography in two perpendicular directions using a stylus method. A specially developed algorithm further identifies the best match between the measured profile segment and a row or column from the captured topography image by carrying out a signal correlation assessment based on an appropriate similarity metric. To ensure accurate scaling, the image pixel grey levels are scaled with a factor calculated as being the larger ratio between the ultimate heights of the measured profilograms and the more perfectly matched image row/column. Nine different similarity metrics were tested to determine the best performing model. The developed approach was evaluated for eight distinct types of fully and partially regular reliefs, and the results reveal that the best-scaled 3D topography models are produced for the fully regular reliefs with much greater heights. Following a thorough analysis of the results obtained, at the end of the paper, we draw some conclusions and discuss potential future work. [ABSTRACT FROM AUTHOR]

In the field of mine engineering, a cross-section topographic survey is usually carried out to perform volumetric calculations of earth movement in order to restore areas affected by extractive activities. Nowadays, Remote Sensing and Geographical Information System (GIS) technologies make it possible to perform the same work by using indirect methods such as images obtained by photogrammetric flights. In this context, Unmanned Aerial Systems (UAS) are considered a very convenient option to develop mapping projects in short periods of time and to provide quality geospatial information such as Digital Elevation Models (DEM) and orthophotos of centimetric spatial resolution. In the present study, this approach has been applied in a gravel extraction area to obtain data for estimating the filling volume of material required for the restoration of the relief (DEM(r)). The estimation of the DEM(r) is later used to calculate a difference of height values (DEM(r)-DEM) that will serve as a variable in the basic operation of volume calculation. The novelty of the presented method is the simulation of a relief adapted to the surrounding morphology, including the derived channel network and the visibility impact, improving what would be a simple clogging. Likewise, the generation of 3D models allows visualizing a new morphological structure of the relief. The proposed approach, based on GIS tools, allows analyzing water flow connectivity integration of the DEM(r) with the environment and estimating potential landscape impacts from the main focuses of a visual basin, both of which are key aspects of restoration modeling that are not always properly addressed. [ABSTRACT FROM AUTHOR]

Obtaining surface albedo data with high spatial and temporal resolution is essential for measuring the factors, effects, and change mechanisms of regional land-atmosphere interactions in deserts. In order to obtain surface albedo data with higher accuracy and better applicability in deserts, we used MODIS and OLI as data sources, and calculated the daily surface albedo data, with a spatial resolution of 30 m, of Guaizi Lake at the northern edge of the Badain Jaran Desert in 2016, using the Spatial and Temporal Non-Local Filter-based Fusion Model (STNLFFM) and topographical correction model (C model). We then compared the results of STNLFFM and C + STNLFFM for fusion accuracy, and for spatial and temporal distribution differences in surface albedo over different underlying surfaces. The results indicated that, compared with STNLFFM surface albedo and MODIS surface albedo, the relative error of C + STNLFFM surface albedo decreased by 2.34% and 3.57%, respectively. C + STNLFFM can improve poor applicability of MODIS in winter, and better responds to the changes in the measured value over a short time range. After the correction of the C model, the spatial difference in surface albedo over different underlying surfaces was enhanced, and the spatial differences in surface albedo between shifting dunes and semi-shifting dunes, fixed dunes and saline-alkali land, and the Gobi and saline-alkali land were significant. C + STNLFFM maintained the spatial and temporal distribution characteristics of STNLFFM surface albedo, but the increase in regional aerosol concentration and thickness caused by frequent dust storms weakened the spatial difference in surface albedo over different underlying surfaces in March, which led to the overcorrection of the C model. [ABSTRACT FROM AUTHOR]

Path planning for wheeled mobile robots on partially known uneven terrain is an open challenge since robot motions can be strongly influenced by terrain with incomplete environmental information such as locally detected obstacles and impassable terrain areas. This paper proposes a hierarchical path planning approach for a wheeled robot to move in a partially known uneven terrain. We first model the partially known uneven terrain environment respecting the terrain features, including the slope, step, and unevenness. Second, facilitated by the terrain model, we use A ⋆ algorithm to plan a global path for the robot based on the partially known map. Finally, the Q-learning method is employed for local path planning to avoid locally detected obstacles in close range as well as impassable terrain areas when the robot tracks the global path. The simulation and experimental results show that the designed path planning approach provides satisfying paths that avoid locally detected obstacles and impassable areas in a partially known uneven terrain compared with the classical A ⋆ algorithm and the artificial potential field method. [ABSTRACT FROM AUTHOR]

The seafloor topography estimation is very important, while the bathymetry data and gravity data are scarce and uneven, which results in large errors in the inversion of the seafloor topography. In this paper, in order to reduce the influence of errors and improve the accuracy of seafloor inversion, the influence of different resolution data on the inversion topography in the Emperor Seamount Chain are investigated by combining ship water depth data and satellite gravity anomaly data released by SIO V29.1. Through the comparison of different resolution models, it is found that the choice of resolution affects the accuracy of the inversion terrain model. An external comparison is presented by using the international high-precision topography data and check points observations. The results show that with the increase in resolution, the fitting residuals obtained by the scale factor are optimized, and the precision of the terrain model is gradually approaching the S&S V19.1 and GEBCO-2020 models, but is better than the ETOPO1 and SRTM 30 models. By external validation using the check points, the standard deviation of the difference was reduced from 58.92 m to 47.01 m, and the correlation between the inverted terrain and the NGDC grid model was increased from 0.9545 to 0.9953. For recovering the Emperor Seamount Chain terrain, the relative error was gradually decreased with the improvement of resolution. The maximum relative error is reduced from 1.09 of 2′ topography to 0.74 of 10″ topography, and the average error is reduced from 0.04 to 0.01 with an improvement by 32.11%. The terrain error between the inverted terrain model and the NGDC grid model is gradually reduced, while the error percentage is increasing by 25.51% and 21.49% in the range of −50 to 50 m and −100 to 100 m, respectively. Furthermore, the sparse area can effectively reduce the terrain standard deviation and improve the terrain correlation by increasing the resolution through the analysis of different density subsets. The error was decreased most significantly in sparse and dense homogeneous regions with increasing resolution. [ABSTRACT FROM AUTHOR]

In recent decades, terrain modelling and reconstruction techniques have increased research interest in precise short and long distance autonomous navigation, localisation and mapping within field robotics. One of the most challenging applications is in relation to autonomous planetary exploration using mobile robots. Rovers deployed to explore extraterrestrial surfaces are required to perceive and model the environment with little or no intervention from the ground station. Up to date, stereopsis represents the state-of-the art method and can achieve short-distance planetary surface modelling. However, future space missions will require scene reconstruction at greater distance, fidelity and feature complexity, potentially using other sensors like Light Detection And Ranging (LIDAR). LIDAR has been extensively exploited for target detection, identification, and depth estimation in terrestrial robotics, but is still under development to become a viable technology for space robotics. This paper will first review current methods for scene reconstruction and terrain modelling using cameras in planetary robotics and LIDARs in terrestrial robotics; then we will propose camera-LIDAR fusion as a feasible technique to overcome the limitations of either of these individual sensors for planetary exploration. A comprehensive analysis will be presented to demonstrate the advantages of camera-LIDAR fusion in terms of range, fidelity, accuracy and computation. [ABSTRACT FROM AUTHOR]

Terrain classification allows a mobile robot to create an annotated map of its local environment from the three-dimensional (3D) and two-dimensional (2D) datasets collected by its array of sensors, including a GPS receiver, gyroscope, video camera, and range sensor. However, parts of objects that are outside the measurement range of the range sensor will not be detected. To overcome this problem, this paper describes an edge estimation method for complete scene recovery and complete terrain reconstruction. Here, the Gibbs-Markov random field is used to segment the ground from 2D videos and 3D point clouds. Further, a masking method is proposed to classify buildings and trees in a terrain mesh. [ABSTRACT FROM AUTHOR]

A sensor system to measure the 2-D position of an object that intercepts a plane in space is presented in this paper. This sensor system was developed with the aim of measuring the height and lateral position of contact wires supplying power to electric locomotives. The sensor comprises two line-scans focused on the zone to be measured and positioned in such a way that their viewing planes are on the same plane. The report includes a mathematical model of the sensor system, and details the method used for calibrating the sensor system. The procedure used for high speed measurement of object position in space is also described, where measurement acquisition time was less than 0.7 ms. Finally, position measurement results verifying system performance in real time are given. [ABSTRACT FROM AUTHOR]

3D terrains used in digital animations and videogames are typically created by several collaborators with a single-user application, which constrains them to update the shared terrain from their PCs, using a turn-taking strategy. Moreover, collaborators have to visualize the terrain through 2D views, confusing novice users when conceiving its shape in 3D. In this article, we describe an architecture for collaborative applications, which allow co-located users to sketch a terrain using their mobile devices concurrently. Two interaction modes are supplied: the standard one and an augmented reality-based mode, which helps collaborators understand the 3D terrain shape. Using the painting with brushesparadigm, users can modify the terrain while visualizing its shape evolution through the camera of their devices. Work coordination is promoted by enriching the 3D space with each collaborator's avatar, which provides awareness information about identity, location, and current action. We implemented a collaborative application from this architecture that was tested by groups of users, who assessed its hedonic and pragmatic qualities in both interaction modes and compared them with the qualities of a similar Web terrain editor. The results showed that the augmented reality mode of our prototype was considered more attractive and usable by the participants. [ABSTRACT FROM AUTHOR]

Currently, smart farming is considered an effective solution to enhance the productivity of farms; thereby, it has recently received broad interest from service providers to offer a wide range of applications, from pest identification to asset monitoring. Although the emergence of digital technologies, such as the Internet of Things (IoT) and low-power wide-area networks (LPWANs), has led to significant advances in the smart farming industry, farming operations still need more efficient solutions. On the other hand, the utilization of unmanned aerial vehicles (UAVs), also known as drones, is growing rapidly across many civil application domains. This paper aims to develop a farm monitoring system that incorporates UAV, LPWAN, and IoT technologies to transform the current farm management approach and aid farmers in obtaining actionable data from their farm operations. In this regard, an IoT-based water quality monitoring system was developed because water is an essential aspect in livestock development. Then, based on the Long-Range Wide-Area Network (LoRaWAN®) technology, a multi-channel LoRaWAN® gateway was developed and integrated into a vertical takeoff and landing drone to convey collected data from the sensors to the cloud for further analysis. In addition, to develop LoRaWAN®-based aerial communication, a series of measurements and simulations were performed under different configurations and scenarios. Finally, to enhance the efficiency of aerial-based data collection, the UAV path planning was optimized. Measurement results showed that the maximum achievable LoRa coverage when operating on-air via the drone is about 10 km, and the Longley–Rice irregular terrain model provides the most suitable path loss model for the scenario of large-scale farms, and a multi-channel gateway with a spreading factor of 12 provides the most reliable communication link at a high drone speed (up to 95 km/h). Simulation results showed that the developed system can overcome the coverage limitation of LoRaWAN® and it can establish a reliable communication link over large-scale wireless sensor networks. In addition, it was shown that by optimizing flight paths, aerial data collection could be performed in a much shorter time than industrial mission planning (up to four times in our case). [ABSTRACT FROM AUTHOR]

Ground-based synthetic aperture radar interferometry (GB-InSAR) is a valuable tool for deformation monitoring. The 2D interferograms obtained by GB-InSAR can be integrated with a 3D terrain model to visually and accurately locate deformed areas. The process has been preliminarily realized by geometric mapping assisted by terrestrial laser scanning (TLS). However, due to the line-of-sight (LOS) deformation monitoring, shadow and layover often occur in topographically rugged areas, which makes it difficult to distinguish the deformed points on the slope between the ones on the pavement. The extant resampling and interpolation method, which is designed for solving the scale difference between the point cloud and radar pixels, does not consider the local scattering characteristics difference of slope. The scattering difference information of road surface and slope surface in the terrain model is deeply weakened. We propose a differentiated method with integrated GB-InSAR and terrain surface point cloud. Local geometric and scattering characteristics of the slope were extracted, which account for pavement and slope differentiating. The geometric model is based on a GB-InSAR system with linear repeated-pass and the topographic point cloud relative observation geometry. The scattering model is based on k-nearest neighbor (KNN) points in small patches varies as radar micro-wave incident angle changes. Simulation and a field experiment were conducted in an open-pit mine. The results show that the proposed method effectively distinguishes pavement and slope surface deformation and the abnormal area boundary is partially relieved. [ABSTRACT FROM AUTHOR]

Airborne light detection and ranging (LiDAR) scanning is a commonly used technology for representing the topographic terrain. As LiDAR point clouds include all surface features present in the terrain, one of the key elements for generating a digital terrain model (DTM) is the separation of the ground points. In this study, we intended to reveal the efficiency of different denoising approaches and an easy-to-use ground point classification technique in a floodplain with fluvial forms. We analyzed a point cloud from the perspective of the efficiency of noise reduction, parametrizing a ground point classifier (cloth simulation filter, CSF), interpolation methods and resolutions. Noise filtering resulted a wide range of point numbers in the models, and the number of points had moderate correlation with the mean accuracies (r = −0.65, p < 0.05), indicating that greater numbers of points had larger errors. The smallest differences belonged to the neighborhood-based noise filtering and the larger cloth size (5) and the smaller threshold value (0.2). The most accurate model was generated with the natural neighbor interpolation with the cloth size of 5 and the threshold of 0.2. These results can serve as a guide for researchers using point clouds when considering the steps of data preparation, classification, or interpolation in a flat terrain. [ABSTRACT FROM AUTHOR]

Accurate perception of the detected terrain is a precondition for the planetary rover to perform its own mission. However, terrain measurement based on vision and LIDAR is subject to environmental changes such as strong illumination and dust storms. In this paper, considering the influence of uncertainty in the detection process, a vibration/gyro coupled terrain estimation method based on multipoint ranging information is proposed. The terrain update model is derived by analyzing the measurement uncertainty and motion uncertainty. Combined with Clearpath Jackal unmanned vehicle—the terrain mapping accuracy test based on ROS (Robot Operating System) simulation environment—indoor Optitrack auxiliary environment and outdoor soil environment was completed. The results show that the proposed algorithm has high reconstruction ability for a given scale terrain. The reconstruction accuracy in the above test environments is within 1 cm, 2 cm, and 6 cm, respectively. [ABSTRACT FROM AUTHOR]