Path determination using elevation data

摘要

In certain embodiments, path determination includes receiving terrain elevation data comprising elevation values for locations of an area, where each elevation value indicates an elevation at a location. One or more gradient matrices are calculated from the elevation values. Each gradient matrix comprises gradient values corresponding to the locations. Traversable segments are determined from the gradient matrices, and a path is determined from the traversable segments.

主权项

1. A method executable by a path module stored in memory comprising:
receiving terrain elevation data comprising a plurality of elevation values for a plurality of locations of an area without man made roads, each elevation value indicating an elevation at a location; calculating one or more gradient matrices from the plurality of elevation values, each gradient matrix comprising a plurality of gradient values corresponding to the plurality of locations, wherein calculating one or more gradient matrices further comprises calculating a gradient matrix in a direction by calculating a gradient for the each elevation value in the direction for each elevation value of at least a subset of the elevation values; determining a plurality of traversable segments from the one or more gradient matrices; and determining a path from the plurality of traversable segments, wherein the determining the plurality of traversable segments comprises: identifying one or more gradient values that are less than a maximum gradient traversable by a vehicle for which the path is designated, the one or more gradient values corresponding to one or more locations; and designating one or more segments at the one or more locations as traversable segments.