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Some applications such as the autonomous navigation in natural terrain and the automation of map making process require highlevel scene descriptions as well as geometrical representation of the natural terrain environments. In this paper, we present methods for building high level terrain descriptions, referred to as topographic maps, by extracting terrain features like "peaks," "pits," "ridges," and "ravines" from the contour map. The resulting topographic map contains the location and type ofdoi:10.1006/ciun.1994.1011 fatcat:tywx7plkxvbxvoi6w3fynga3ce