GPU-Accelerated Rapid Planar Region Extraction for Dynamic Behaviors on Legged Robots
Bhavyansh Mishra,Duncan Calvert,Sylvain Bertrand,Stephen McCrory,Robert Griffin,Hakki Erhan Sevil,Bhavyansh Mishra,Duncan Calvert,Sylvain Bertrand,Stephen McCrory,Robert Griffin,Hakki Erhan Sevil
Legged robots require fast and accurate representation of their surrounding terrain to achieve behaviors such as running, push recovery, continuous walking, backflips, while also utilizing on-board computational resources efficiently. The desired tasks can be achieved efficiently by representing the environment using planar regions. However, existing methods for planar region extraction are either...
