Mesh estimation of terrain

摘要

Abstract METHOD FOR GENERATING A TERRAIN GRID 5 A method for generating a three dimensional grid (45) of terrain includes receiving data representing a three-dimensional point cloud (10) and generating a plurality of slices (23) of the data. The method evaluates the slices (15, 20) using a swarm intelligence algorithm (25). The method is able to identify both terrain (5) and objects (100). The terrain can also be identified as traversable terrain 10 (60). Receive 3D point cloud data Slice 3D data Divide slices into sub-slices Accumulate Points in sub-slices into 2D planes Swarm algorithm finds curve representing lowest cost path (pixel brightness, pheromone deposit, path length) Merge curves into 3D grid Display grid Store grid