Scene understanding for a high-mobility walking robot
Abstract
High-mobility walking robots offer unique capabilities in complex off-road environments where wheeled vehicles are not able to travel. However, these environments can also pose significant autonomous navigation challenges. Key steps in planning a safe path for the robot autonomously include estimating the height of the support ground surface - which is often occluded by vegetation - and classifying the terrain and obstacles above the ground surface. This paper describes the development and experimental evaluation of a terrain classification and ground surface height estimation system to support autonomous navigation for a high-mobility walking robot. We provide experimental evaluation on an extensive, manually-labeled dataset collected from geographically diverse sites over a 28-month period.
BibTeX
@conference{Bradley-2015-122441,author = {David M. Bradley and Jonathan K. Chang and David Silver and Matthew Powers and Herman Herman and Peter Rander and Anthony Stentz},
title = {Scene understanding for a high-mobility walking robot},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2015},
month = {September},
pages = {1144 - 1151},
}