CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
A Slope Detection Method Based on 3D LiDAR Suitable for Quadruped Robots
Meng Xiangrui; Cao Zhiqiang; Zhang Leijie; Wang Shuo; Zhou Chao
2016-06
Conference NameWorld Congress on Intelligent Control and Automation
Pages1398-1402
Conference DateJune 12-15, 2016
Conference PlaceGuilin, China
Abstract
This paper introduces a slope detection method based on point cloud data from 3D LiDAR for quadruped robots in unknown environments. For quadruped robots, they need to adjust their gaits according to different slope angles to avoid some potential dangers. 3D LiDAR is used to gather point cloud data, which is superior to 2D LiDAR in speed and accuracy. In this paper, a slope detection method using bilateral filtering and RANSAC algorithms is discussed. The experiments of slope detection are fulfilled with the consideration of different angles of slopes and different orientations to the slopes, and the results demonstrate that errors of angle estimation is small.
Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/20879
Collection复杂系统管理与控制国家重点实验室_先进机器人
AffiliationState Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Meng Xiangrui,Cao Zhiqiang,Zhang Leijie,et al. A Slope Detection Method Based on 3D LiDAR Suitable for Quadruped Robots[C],2016:1398-1402.
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