research-article

Scene understanding for a high-mobility walking robot

Authors:

David M. Bradley,

Jonathan K. Chang,

Matthew Powers,

Anthony StentzAuthors Info & Claims

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Pages 1144 - 1151

https://doi.org/10.1109/IROS.2015.7353514

Published: 28 September 2015 Publication History

Abstract

High-mobility walking robots offer unique capabilities in complex off-road environments where wheeled vehicles are not able to travel. However, these environments can also pose significant autonomous navigation challenges. Key steps in planning a safe path for the robot autonomously include estimating the height of the support ground surface - which is often occluded by vegetation - and classifying the terrain and obstacles above the ground surface. This paper describes the development and experimental evaluation of a terrain classification and ground surface height estimation system to support autonomous navigation for a high-mobility walking robot. We provide experimental evaluation on an extensive, manually-labeled dataset collected from geographically diverse sites over a 28-month period.

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Cited By

Prágr MČížek PFaigl J(2018)Incremental Learning of Traversability Cost for Aerial Reconnaissance Support to Ground UnitsModelling and Simulation for Autonomous Systems10.1007/978-3-030-14984-0_30(412-421)Online publication date: 17-Oct-2018
https://dl.acm.org/doi/10.1007/978-3-030-14984-0_30

Index Terms

Scene understanding for a high-mobility walking robot
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
2. Computing methodologies
  1. Artificial intelligence

Index terms have been assigned to the content through auto-classification.

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cover image Guide Proceedings

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Sep 2015

6501 pages

Copyright © 2015.

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IEEE Press

Publication History

Published: 28 September 2015

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Cited By

Prágr MČížek PFaigl J(2018)Incremental Learning of Traversability Cost for Aerial Reconnaissance Support to Ground UnitsModelling and Simulation for Autonomous Systems10.1007/978-3-030-14984-0_30(412-421)Online publication date: 17-Oct-2018
https://dl.acm.org/doi/10.1007/978-3-030-14984-0_30

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