\batchmode
\documentstyle [twocolumn,12pt,epsf] {article}
\pagestyle{empty}

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\setlength{\textwidth}{17.4cm}
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\newcommand{\eqs}{\setlength{\abovedisplayskip}{3pt} \setlength{\belowdisplayskip}{3pt}}
\newcommand{\items}{\setlength{\itemsep}{-1pt} \setlength{\parsep}{-1pt} \setlength{\topsep}{-1pt}}
\newcommand{\ssp}{\setlength{\baselineskip}{1pt}}


\makeatletter
\def\section{\@startsection {section}{1}{\z@}{-3.5ex plus -1ex minus
    -.2ex}{2.3ex plus .2ex}{\large\bf}}
\makeatother

\def\section{\@startsection {section}{1}{\z@}{-3.5ex plus -1ex minus
    -.2ex}{2.3ex plus .2ex}{\large\bf}}
\makeatother
\newenvironment{tex2html_wrap}{}{}
\setlength{\textheight}{10in}\begin{document}
\pagestyle{empty}
\newpage

{\samepage \clearpage $\lambda (h)$
}


\stepcounter{section}
\newpage

{\samepage \clearpage \begin{figure}% latex2html id marker 61
[hbtp]
\centerline{
  \hskip 0cm
  \epsfxsize=8.5cm
  \epsfbox{figures/HMMWV.pretty.epsi}
}
\caption{Rover testbeds:  Ratler (left) and HMMWV (right)}
\label{fig:rovers}
\end{figure}
}


\stepcounter{section}
\stepcounter{subsection}
\newpage

{\samepage \clearpage $[d_{min}, d_{max}]$
}


\newpage

{\samepage \clearpage $(x_{r},y_{r})$
}


\newpage

{\samepage \clearpage $[d_{min}, d_{max}]$
}


\newpage

{\samepage \clearpage $[d_{min}, d_{max}]$
}


\newpage

{\samepage \clearpage $\sigma$
}


\newpage

{\samepage \clearpage $\rho$
}


\newpage

{\samepage \clearpage $\rho(d)$
}


\newpage

{\samepage \clearpage $d_{i}$
}


\newpage

{\samepage \clearpage $\rho_{max} - \rho(d_{i}) < \delta\rho$
}


\newpage

{\samepage \clearpage $\rho_{max}$
}


\newpage

{\samepage \clearpage $\sigma_{min} = 2$
}


\newpage

{\samepage \clearpage $\rho_{min} = 0.5$
}


\newpage

{\samepage \clearpage $\delta\rho = 0.05$
}


\stepcounter{subsection}
\newpage

{\samepage \clearpage $M$
}


\newpage

{\samepage \clearpage $m_{l}$
}


\newpage

{\samepage \clearpage $m_{r}$
}


\newpage

{\samepage \clearpage $m_{l} = [u\,v\,w]^{t}$
}


\newpage

{\samepage \clearpage $x = u/w$
}


\newpage

{\samepage \clearpage $y = v/w$
}


\newpage

{\samepage \clearpage $H$
}


\newpage

{\samepage \clearpage $m_{r} = Hm_{l}$
}


\newpage

{\samepage \clearpage $n$
}


\newpage

{\samepage \clearpage $m^{i}_{l}$
}


\newpage

{\samepage \clearpage $m^{i}_{r}$
}


\newpage

{\samepage \clearpage $\sum_{i}\|Hm^{i}_{l} \times m^{i}_{r}\|^{2}$
}


\newpage

{\samepage \clearpage $m_{l}$
}


\newpage

{\samepage \clearpage $m_{r}$
}


\newpage

{\samepage \clearpage $M^{*}$
}


\newpage

{\samepage \clearpage $m^{*}_{l}$
}


\newpage

{\samepage \clearpage $m^{*}_{r}$
}


\newpage

{\samepage \clearpage $M^{*}$
}


\newpage

{\samepage \clearpage $M^{*}$
}


\newpage

{\samepage \clearpage $p_{r} = Hm_{l}$
}


\newpage

{\samepage \clearpage $p^{*}_{r} = Hm^{*}_{l}$
}


\newpage

{\samepage \clearpage $p_{r}$
}


\newpage

{\samepage \clearpage $p^{*}_{r}$
}


\newpage

{\samepage \clearpage $M^{*}$
}


\newpage

{\samepage \clearpage $q_{r}$
}


\newpage

{\samepage \clearpage $m_{r}m^{*}_{r}$
}


\newpage

{\samepage \clearpage $p_{r}p^{*}_{r}$
}


\newpage

{\samepage \clearpage $m_{r}m^{*}_{r}$
}


\newpage

{\samepage \clearpage $MM^{*}$
}


\newpage

{\samepage \clearpage $p_{r}p^{*}_{r}$
}


\newpage

{\samepage \clearpage $q$
}


\newpage

{\samepage \clearpage $MM^{*}$
}


\newpage

{\samepage \clearpage $M^{*}$
}


\newpage

{\samepage \clearpage $M^{*}$
}


\newpage

{\samepage \clearpage $m_{r}q$
}


\newpage

{\samepage \clearpage $P^{unit}$
}


\newpage

{\samepage \clearpage $q^{unit}_{r}$
}


\newpage

{\samepage \clearpage $P^{unit}$
}


\newpage

{\samepage \clearpage $h = qm_{r}/q^{unit}_{r}m^{unit}_{r}$
}


\newpage

{\samepage \clearpage $h$
}


\newpage

{\samepage \clearpage \begin{figure}% latex2html id marker 165
[htbp]
\centerline{
  \epsfxsize=5.cm
  \epsfbox{figures/h.ps}
}
\caption{Computation of relative height: (a) Relation between the projections of
a point in the reference ground plane in the images; (b) Computing the
intersection of a line segment with the ground plane; (c) Computing the
projection of a point on the ground plane; (d) Computing the height relative to
``unit'' point.}
\label{fig:height}
\end{figure}
}


\newpage

{\samepage \clearpage $[h_{min},h_{max}]$
}


\newpage

{\samepage \clearpage $[d_{min},d_{max}]$
}


\stepcounter{subsection}
\newpage

{\samepage \clearpage \begin{figure}% latex2html id marker 179
[htbp]
  \centerline{
  \epsfxsize=8.5cm
  \epsfbox{figures/arcs.ps}
}
\caption{Discrete set of arcs projected in the image.}
\label{fig:Arcs}
\end{figure}
}


\newpage

{\samepage \clearpage $v_i,
i = 1,\ldots,N$
}


\newpage

{\samepage \clearpage $R_i, i =
1,\ldots,N$
}


\newpage

{\samepage \clearpage $v_i = -1$
}


\newpage

{\samepage \clearpage $R_i$
}


\newpage

{\samepage \clearpage $v_i = +1$
}


\newpage

{\samepage \clearpage $-1 < v_i < +1$
}


\newpage

{\samepage \clearpage $v_i$
}


\newpage

{\samepage \clearpage \begin{figure}% latex2html id marker 190
[htbp]
\centerline{
  \epsfxsize=8.5cm
  \epsfbox{figures/points.ps}
}
\caption{Grid of measurement points.}
\label{fig:points}
\end{figure}
}


\newpage

{\samepage \clearpage \begin{figure}% latex2html id marker 195
[htbp]
\centerline{
  \epsfxsize=8.5cm
  \epsfbox{figures/projected_pts.ps}
}
\caption{Measured points from Figure \protect \ref{fig:points} projected on the ground.}
\label{fig:projectedpoints}
\end{figure}
}


\newpage

{\samepage \clearpage $v_k^i = v(R_i, x_k, y_k)$
}


\newpage

{\samepage \clearpage $(x_k,y_k)$
}


\newpage

{\samepage \clearpage $v_k^i$
}


\newpage

{\samepage \clearpage $L_{max}$
}


\newpage

{\samepage \clearpage $L_{min}$
}


\newpage

{\samepage \clearpage $K$
}


\newpage

{\samepage \clearpage $L_k^i$
}


\newpage

{\samepage \clearpage $L_{max}$
}


\newpage

{\samepage \clearpage $L_{min}$
}


\newpage

{\samepage \clearpage $D_k^i$
}


\newpage

{\samepage \clearpage $P_k$
}


\newpage

{\samepage \clearpage $h_k$
}


\newpage

{\samepage \clearpage $i$
}


\newpage

{\samepage \clearpage $V_i^k(h_k)= \lambda(h_k)v_i^k + (1-\lambda(h_k))$
}


\newpage

{\samepage \clearpage $\lambda(h) = e^{1-gh}$
}


\newpage

{\samepage \clearpage $V_i^k(h_k)$
}


\newpage

{\samepage \clearpage $v_i^k$
}


\newpage

{\samepage \clearpage $g$
}


\newpage

{\samepage \clearpage $\{P_k\}$
}


\newpage

{\samepage \clearpage $V_i^k$
}


\newpage

{\samepage \clearpage \begin{figure}% latex2html id marker 209
[htbp]
\centerline{
  \epsfxsize=8.5cm
  \epsfbox{figures/cell_influence.id.ps}
}
\caption{Influence of an obstacle cell}
\label{fig:cellinfluence}
\end{figure}
}


\newpage

{\samepage \clearpage \begin{figure}% latex2html id marker 214
[htbp]
\centerline{
  \epsfxsize=3cm
  \epsfbox{figures/lambda.epsi}}
\caption{Function $\lambda(h)$}
\label{fig:lambda}
\end{figure}
}


\newpage

{\samepage \clearpage \begin{figure}% latex2html id marker 219
[htbp]
\centerline{
  \epsfxsize=8.5cm
  \epsfbox{figures/example1.ps}
}
\caption{Two measured points. The left one is on a plane ground, the right one is on a bump and represents a small obstacle.}
\label{fig:Example1}
\end{figure}
}


\newpage

{\samepage \clearpage \begin{figure}% latex2html id marker 224
[htbp]
\centerline{
  \epsfxsize=3.5cm
  \epsfbox{figures/vote2_example1.ps}
  \hskip 1cm
  \epsfxsize=3.5cm
  \epsfbox{figures/vote1_example1.ps}
}
\caption{Votes corresponding to the measured points of Figure \protect
\ref{fig:Example1}; Left: Point on the ground plane; Right: Point on an obstacle.}
\label{fig:VotesExample1}
\end{figure}
}


\stepcounter{subsection}
\newpage

{\samepage \clearpage \begin{figure}% latex2html id marker 239
[htbp]
\centerline{
  \epsfxsize=8.5cm \epsfbox{figures/results1.ps} }
\caption{Result of the relative height computation in the vicinity of a large
obstacle. The dots indicate the location of the measurement
points; the circles indicate  their projection on the ground.}
\label{fig:results1}
\end{figure}
}


\newpage

{\samepage \clearpage \begin{figure}% latex2html id marker 244
[htbp]
\centerline{
  \epsfxsize=8.5cm
  \epsfbox{figures/votes1.ps}
}
\caption{Votes corresponding to the measures from Figure \protect \ref{fig:results1}}
\label{fig:votes1}
\end{figure}
}


\newpage

{\samepage \clearpage \begin{figure}% latex2html id marker 252
[htbp]
\centerline{
  \epsfxsize=8.5cm \epsfbox{figures/results2.ps} }
\caption{Result of the relative height computation in the vicinity of a small obstacle}
\label{fig:results2}
\end{figure}
}


\newpage

{\samepage \clearpage \begin{figure}% latex2html id marker 257
[htbp]
\centerline{
  \epsfxsize=8.5cm
  \epsfbox{figures/votes2.ps}
}
\caption{Votes corresponding to the measures from Figure \protect \ref{fig:results2}}
\label{fig:votes2}

\end{figure}
}


\newpage

{\samepage \clearpage \begin{figure}% latex2html id marker 266
[htbp]
\centerline{
  \epsfxsize=8.5cm
  \epsfbox{figures/results3.ps}
}
\caption{Result of the height computation around the obstacle of \protect
\ref{fig:results2} at closer range}
\label{fig:results3}
\end{figure}
}


\newpage

{\samepage \clearpage \begin{figure}% latex2html id marker 271
[htbp]
\centerline{
  \epsfxsize=8.5cm
  \epsfbox{figures/votes3.ps}
}
\caption{Votes corresponding to the measures from Fig \protect \ref{fig:results3}}
\label{fig:votes3}
\end{figure}
}


\stepcounter{section}
\stepcounter{subsection}
\newpage

{\samepage \clearpage \begin{figure}% latex2html id marker 287
\centerline{
  \epsfxsize=4.5cm
  \epsfbox{figures/twocircles.ps.bb}
}
\caption{Two Measurements of Altitude: GPs and Circles of Equal Altitude}
\label{TwoCircles}
\end{figure}
}


\stepcounter{subsection}
\stepcounter{subsubsection}
\newpage

{\samepage \clearpage \begin{figure}% latex2html id marker 298
\centerline{
\hskip 3.5cm
\epsfxsize=7.5cm
\epsfbox{figures/final.ps.bb}
\hskip -3.5cm
\epsfxsize=7.5cm
\epsfbox{figures/grass.ps.bb}
}
\caption{Typical Sequence of Images in Altitude Measurement}
\label{ImageSequence}
\end{figure}
}


\newpage

{\samepage \clearpage \[ 
\setlength{\abovedisplayskip}{3pt} \setlength{\belowdisplayskip}{3pt}
\alpha = \arctan \left( \frac{ v - v_o }{ f_v } \right)
\]
}


\newpage

{\samepage \clearpage $v_o$
}


\newpage

{\samepage \clearpage $f_v$
}


\newpage

{\samepage \clearpage \[ \setlength{\abovedisplayskip}{3pt} \setlength{\belowdisplayskip}{3pt}
h_a = \alpha + \beta
\]
}


\newpage

{\samepage \clearpage $\beta$
}


\newpage

{\samepage \clearpage $R$
}


\newpage

{\samepage \clearpage \[ \setlength{\abovedisplayskip}{3pt} \setlength{\belowdisplayskip}{3pt}
R = \frac{ 0.0167 }{ \tan \left( h_a + \frac{ 7.31 }{ h_a + 4.4 } \right) }.
\]
}


\newpage

{\samepage \clearpage $PA$
}


\newpage

{\samepage \clearpage \[ \setlength{\abovedisplayskip}{3pt} \setlength{\belowdisplayskip}{3pt}
PA = 0.0024 \cos h_a.
\]
}


\newpage

{\samepage \clearpage $h_o = h_a - R + PA$
}


\newpage

{\samepage \clearpage $v$
}


\newpage

{\samepage \clearpage $y$
}


\stepcounter{subsubsection}
\stepcounter{subsection}
\newpage

{\samepage \clearpage \begin{equation}\setlength{\abovedisplayskip}{3pt} \setlength{\belowdisplayskip}{3pt}
\label{AltitudeEquation}
\sin l \sin l_{GP} + \cos l \cos l_{GP} \cos ( \lambda_{GP} + \lambda ) =
        \sin h_o,
\end{equation}
}


\newpage

{\samepage \clearpage $(l, \lambda)$
}


\newpage

{\samepage \clearpage $(l_{GP}, \lambda_{GP})$
}


\newpage

{\samepage \clearpage $h_o$
}


\newpage

{\samepage \clearpage \begin{eqnarray}\label{MinimizeEquation}
(\hat{l}, \hat{\lambda}) & \! \! \! \! & = \mbox{arg} \min_{l,\lambda} \left[
        \sum_{i=1}^n \left( \sin l \sin l_{GPi} + \right. \right. \nonumber \\ 
&  &     \left. \left.  \cos l \cos l_{GPi} \cos ( \lambda_{GPi} + \lambda ) -
                        \sin h_{oi} \right)^2 \right].
\end{eqnarray}
}


\stepcounter{subsection}
\newpage

{\samepage \clearpage $\pm 0.2$
}


\newpage

{\samepage \clearpage \[ \setlength{\abovedisplayskip}{3pt} \setlength{\belowdisplayskip}{3pt}
\left[ \begin{array}{cccc}
39.764  &      -40.567 &      1.365 &        290.104 \\ 
-12.129  &    -13.576   &   -52.750   &   465.703 \\ 
0.00249   &     0.00172    &    -0.00041   &    1.000
\end{array} \right].
\]
}


\newpage

{\samepage \clearpage \begin{eqnarray*}v_o & = & 242 \\ 
f_v & = & 23068.5.
\end{eqnarray*}
}


\stepcounter{subsection}
\newpage

{\samepage \clearpage $(40^{\circ} 26', -79^{\circ} 59')$
}


\newpage

{\samepage \clearpage $\pm 0.8^{\circ}$
}


\newpage

{\samepage \clearpage $(40^{\circ} 22',  -79^{\circ} 26')$
}


\newpage

{\samepage \clearpage $(40^{\circ} 37', 79^{\circ} 52')$
}


\newpage

{\samepage \clearpage \begin{figure}% latex2html id marker 365
\centerline{
  \epsfxsize=3.5cm
  \epsfbox{figures/figJune3.ps}
  \hskip 1cm
  \epsfxsize=3.5cm
  \epsfbox{figures/figMay23.ps}
}
\caption{Data from Sun Measurements}
\label{DataMay23}
\end{figure}
}


\stepcounter{section}
\stepcounter{section}

\end{document}