Terrain Mapping for Outdoor Robots: Robust Perception for Walking in the Grass
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 1, pp. 529 - 533, May, 1993
Abstract
The perception system for the Ambler, an autonomous legged mobile robot that operates in rugged environments, is described. Its performance during a 500-m autonomous outdoor walking experiment is analyzed. The perception system aggressively verifies sensor data and uses feedback from terrain contact to increase accuracy. Characteristics of a robust perception system, are identified, and the authors' experiences in studying outdoor perception are summarized.
BibTeX
@conference{Hoffman-1993-13489,author = {R. R. Hoffman and Eric Krotkov},
title = {Terrain Mapping for Outdoor Robots: Robust Perception for Walking in the Grass},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1993},
month = {May},
volume = {1},
pages = {529 - 533},
}
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