diff --git a/tutorials/digital_elevation_models.md b/tutorials/digital_elevation_models.md
new file mode 100644
index 0000000000..a0c7b29dde
--- /dev/null
+++ b/tutorials/digital_elevation_models.md
@@ -0,0 +1,5 @@
+# Overview
+
+A Digital Elevation Model (DEM) is a 3D representation of a terrain's surface that does not include any objects like buildings or vegetation. DEMs are frequently created by using a combination of sensors, such as LIDAR, radar, or cameras. The terrain elevations for ground positions are sampled at regularly-spaced horizontal intervals.
+
+The term DEM is just a generic denomination, not a specific format. In fact, the DEMs can be represented as a grid of elevations (raster) or as a vector-based triangular irregular network (TIN). Currently, Gazebo only supports raster data in the supported formats available in [GDAL](https://gdal.org/en/stable/).