A detailed model of the environment is essential for safe autonomous navigation in unstructured terrain. At our institute approaches are developed to calculate such a model by fusion of different sensors.
In addition to obstacle probabilities, this also includes heights, slopes of the terrain, colour information and - depending on the available sensors - vegetation probabilities, near-infrared data and temperature data from a thermal imaging camera.
The obstacle information can be recorded by one or more LiDAR sensors or stereo camera systems.
LiDAR Environment Model
![LiDAR-Umgebungsmodell](https://unibw.de/tas-en/bilder/lidar-layers.png/@@images/33a97cda-22d5-48f1-86fe-cc7361905686.png)
Stereo Environment Model
![Stereo-Umgebungsmodell](https://unibw.de/tas-en/bilder/stereo-layers.png/@@images/c9d01244-623b-44d7-b116-466a750796c4.png)