679875.fig.009a
(a)
679875.fig.009b
(b)
Figure 9: Comparison between simulated and actual costs associated with each object in the scene. On the left is an overhead view of the scene with each object labeled along with the path the UGV traveled. The average cost of each object is very similar between the simulated and ground truth data for the boulder and hay bales, but the area of high cost seen behind the vegetation generated by the true LIDAR data was not reproduced in simulation.