Polytopic Planar Region Characterization of Rough Terrains for Legged Locomotion
Zhi Xu,Hongbo Zhu,Hua Chen,Wei Zhang,Zhi Xu,Hongbo Zhu,Hua Chen,Wei Zhang
This paper studies the problem of constructing polytopic representations for planar regions from depth camera readings. This problem is of great importance for terrain mapping in complicated environment and has great potentials in legged locomotion applications. To address the polytopic planar region characterization problem, we propose a two-stage solution scheme. At the first stage, the planar r...
