Terrain Mapping For Long-duration Autonomous Walking
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 563 - 568, July, 1992
Abstract
We describe the perception system for the Ambler, an autonomous, legged mobile robot that operates in rugged environments. The Ambler's perception system uses 3-D laser range images to construct elevation maps of the local terrain, processing hundreds of images and thousands of elevation points during a walking experiment. This paper presents the design, implementation, and analysis of a perception system to meet the needs of long-duration walking, emphasizing issues of perforumnce, accuracy, and reliability.
BibTeX
@conference{Hoffman-1992-13397,author = {R. Hoffman and Eric Krotkov},
title = {Terrain Mapping For Long-duration Autonomous Walking},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1992},
month = {July},
pages = {563 - 568},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.