{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,9]],"date-time":"2026-03-09T20:02:23Z","timestamp":1773086543934,"version":"3.50.1"},"reference-count":14,"publisher":"Wiley","issue":"11","license":[{"start":{"date-parts":[[2007,3,21]],"date-time":"2007-03-21T00:00:00Z","timestamp":1174435200000},"content-version":"vor","delay-in-days":4827,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Systems &amp;amp; Computers in Japan"],"published-print":{"date-parts":[[1994,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This paper proposes a method of modeling a natural terrain based on fractal geometry which can be applied to problems such as route planning for outdoor exploration by autonomous mobile robots. The method uses elevation data of a terrain which are derived from range data obtained by a scanning\u2010laser range\u2010finder at irregular positions. The method handles a problem of reconstruction of 3\u2010dimensional data with an arbitrary resolution and uncertainty.<\/jats:p><jats:p>Assuming that the terrain is fractal shape, the method solves the following modeling problems: (a) estimation of terrain roughness based on fractal Brownian function model; (b) reconstruction of the terrain surface adaptive to the roughness (using interpolation of elevation data with Maximum <jats:italic>A Posteriori<\/jats:italic> (MAP) estimation); and (c) estimation of uncertainty distribution of the elevation map of terrain using the Monte Carlo method. The solution of each problem is given. The usefulness of the method is confirmed by simulations and experiments using observational data.<\/jats:p>","DOI":"10.1002\/scj.4690251110","type":"journal-article","created":{"date-parts":[[2007,7,8]],"date-time":"2007-07-08T01:48:22Z","timestamp":1183859302000},"page":"99-113","source":"Crossref","is-referenced-by-count":4,"title":["Modeling of natural terrain based on fractal geometry"],"prefix":"10.1002","volume":"25","author":[{"given":"Kenichi","family":"Arakawa","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Eric","family":"Krotkov","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,21]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/2.30717"},{"key":"e_1_2_1_3_2","unstructured":"M.Hebert T.KanadeandI.Kweon. 3\u2010D Vision Techniques for Autonomous Vehicles. Technical Report The Robotics Institute Carnegie Mellon University CMU\u2010RI\u2010TR\u201088\u201012 (1988)."},{"key":"e_1_2_1_4_2","unstructured":"I.Kweon R.Hoffman andE.Krotkov.Experimental Characterization of the Perceptron Laser Rangefinder. Technical Report The Robotics Institute Carnegie Mellon University CMU\u2010RI\u2010TR\u201091\u20131 (1991)."},{"key":"e_1_2_1_5_2","volume-title":"The Fractal Geometry of Nature","author":"Mandelbrot B.","year":"1982"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.1984.4767591"},{"issue":"3","key":"e_1_2_1_7_2","first-page":"284","article-title":"Fractal\u2010Based Analysis and Interpolation of 3D Natural Surface Shapes and their Application to Terrain Modeling","volume":"46","author":"Yokoya N.","year":"1989","journal-title":"CUG2P"},{"key":"e_1_2_1_8_2","unstructured":"K.ArakawaandE.Krotkov.Estimating Fractal Dimension from Range Images of Natural Terrain. Technical Report School of Computer Science Carnegie Mellon University CMU\u2010SC\u201091\u2013156 (1991)."},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1016\/0146-664X(82)90011-9"},{"key":"e_1_2_1_10_2","volume-title":"The Science of Fractal Images","author":"\u2010O. Peitgen and H.","year":"1988"},{"key":"e_1_2_1_11_2","first-page":"9","volume-title":"Relaxation and Regularization","author":"Sakaue K.","year":"1989"},{"key":"e_1_2_1_12_2","unstructured":"D.Terzopoulos.Multiresolution Computation of Visual\u2010Surface Representations. PhD Thesis Massachusetts Institute of Technology (1984)."},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4613-1637-4"},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.1984.4767596"},{"key":"e_1_2_1_15_2","unstructured":"K.ArakawaandE.Krotkov.Fractal Surface Reconstruction with Uncertainty Estimation: Modeling Natural Terrain. Technical Report School of Computer Science Carnegie Mellon University CMU\u2010CS\u201092\u2013194 (1992)."}],"container-title":["Systems and Computers in Japan"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Fscj.4690251110","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/scj.4690251110","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,25]],"date-time":"2023-10-25T06:12:59Z","timestamp":1698214379000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/scj.4690251110"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1994,1]]},"references-count":14,"journal-issue":{"issue":"11","published-print":{"date-parts":[[1994,1]]}},"alternative-id":["10.1002\/scj.4690251110"],"URL":"https:\/\/doi.org\/10.1002\/scj.4690251110","archive":["Portico"],"relation":{},"ISSN":["0882-1666","1520-684X"],"issn-type":[{"value":"0882-1666","type":"print"},{"value":"1520-684X","type":"electronic"}],"subject":[],"published":{"date-parts":[[1994,1]]}}}