An Onboard Framework for Staircases Modeling Based on Point Clouds
Chun Qing,Rongxiang Zeng,Xuan Wu,Yongliang Shi,Gan Ma,Chun Qing,Rongxiang Zeng,Xuan Wu,Yongliang Shi,Gan Ma
The detection of traversable regions on staircases and the physical modeling constitutes pivotal aspects of the mobility of legged robots. This paper presents an onboard framework tailored to the detection of traversable regions and the modeling of physical attributes of staircases by point cloud data. To mitigate the influence of illumination variations and the overfitting due to the dataset dive...
