Obstacle Maps

What is it?

This is a map generated by Intrepid as it moves along surveying it's environment. It uses both sonar and infrared sensors to scout for obstacles so it won't run into them and so it can navigate the best course to take. The sonar works at longer ranges but is more prone to picking up ground clutter (false notions of obstacles that are really just rough spots on the ground). The infrared sensors are much better at discriminating between real obstacles and clutter but can't see very far away.

The tiny dotted lines show the trail Intrepid followed. The dark blue patches are clear areas. The bright green patches are obstacles. The red dots are way-stations it has been programmed to navigate between.

Here it is overlaid on a satellite photo of the same area. The obstacle map has been blown up to match the size of the photo.

The satellite photo is a bit older than when Intrepid made this obstacle map. You can tell there is a difference by noticing the two cars parked in the street which weren't there when the robot passed by, and by the clutter returned from the bushes that were there but weren't when the satellite photo was taken.

If you click on the lower picture it will show you the satellite photo by itself for comparison. ..