A Slope Detection Method Based on 3D LiDAR Suitable for Quadruped Robots
Meng Xiangrui; Cao Zhiqiang; Zhang Leijie; Wang Shuo; Zhou Chao
2016-06
会议名称World Congress on Intelligent Control and Automation
页码1398-1402
会议日期June 12-15, 2016
会议地点Guilin, China
摘要
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.
收录类别EI
语种英语
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/20879
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
推荐引用方式
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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