Detecting Usable Planar Regions for Legged Robot Locomotion
Sylvain Bertrand,Inho Lee,Bhavyansh Mishra,Duncan Calvert,Jerry Pratt,Robert Griffin,Sylvain Bertrand,Inho Lee,Bhavyansh Mishra,Duncan Calvert,Jerry Pratt,Robert Griffin
Awareness of the environment is essential for mobile robots. Perception for legged robots requires high levels of reliability and accuracy in order to walk stably in the types of complex, cluttered environments we are interested in. In this paper, we present a usable environmental perception algorithm designed to detect steppable areas and obstacles for the autonomous generation of desired foothol...
