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Terrain Mapping With MMW Radar: An Approach Using Sensor Fusion And Knowledge-Based Heuristics

In this note we describe an architecture that integrates low-level processing of MMW radar data; intermediate-level processing based on contextual heuristics; and high-level processing driven by domain knowledge. The overall system objectives are to identify roadlike structures in the illuminated scene; and to match them to a world knowledge model to complete the estimated view of local terrain. The proposed system has applications in autonomous vehicle navigation and emer-gency landing situations.