Comparison of Scanning Laser Range-Finders and Millimeter-Wave Radar for Creating a Digital Terrain Map

This paper presents results obtained through the development of a terrain mapping system, which combines millimeter wave and laser scanners to provide enhanced mining situational awareness capability. A comparison of the use of laser and radar data for the purpose of creating Digital Terrain Maps (DTMs) and object pose estimation is given which includes a comparative evaluation of terrain mapping data obtained from prototype millimeter-wave radar and several commercially available 2D scanning lasers mounted on large rotating excavation machinery. The registered laser data is compared with the results of a terrain model obtained through stereo vision, and, subsequently, with the radar data.