Vision Processing And Foothold Selection For The ASV Walking Machine

Charles A. Klein; Chin-Cheng Kau; Eric A. Ribble; Mark R. Patterson

doi:10.1117/12.968248

1 January 1987 Vision Processing And Foothold Selection For The ASV Walking Machine

Charles A. Klein, Chin-Cheng Kau, Eric A. Ribble, Mark R. Patterson

Proceedings Volume 0852, Mobile Robots II; (1987) https://doi.org/10.1117/12.968248
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States

Abstract

This paper presents the vision system and the algorithms used to process range data for terrain following of a legged walking machine. The vision system consists of a laser range-finder, a vision computer, a terrain elevation map, and a guidance computer. The range data generated by the laser range-finder are processed and converted into a 3-D representation by the vision computer in real time, and then the elevation information along with the time data are stored in the terrain elevation map. With the real-time elevation information in the map, the guidance computer can select the best footholds for the walking machine in order to maneuver over rough terrain.

Citation Download Citation

Charles A. Klein, Chin-Cheng Kau, Eric A. Ribble, and Mark R. Patterson "Vision Processing And Foothold Selection For The ASV Walking Machine", Proc. SPIE 0852, Mobile Robots II, (1 January 1987); https://doi.org/10.1117/12.968248

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