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Proceedings Paper

Fast Visual Foothold Finding For An Autonomous Bipedal Robot
Author(s): Keith Antonelli; Kamal Gupta; Tad McGeer
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Paper Abstract

To facilitate experiments in bipedal walking, we have developed a method for fast autonomous recognition of footholds marked by a distinctive color. An image patch is taken to be part of a foot-hold if its color is within a specified region of red-green-blue space and the patch is sufficiently large. The method is suitable for continuous use while the machine is walking and is robust with respect to variations in ambient lighting.

Paper Details

Date Published: 1 March 1990
PDF: 4 pages
Proc. SPIE 1193, Intelligent Robots and Computer Vision VIII: Systems and Applications, (1 March 1990); doi: 10.1117/12.969807
Show Author Affiliations
Keith Antonelli, Simon Fraser University (Canada)
Kamal Gupta, Simon Fraser University (Canada)
Tad McGeer, Simon Fraser University (Canada)


Published in SPIE Proceedings Vol. 1193:
Intelligent Robots and Computer Vision VIII: Systems and Applications
Bruce G. Batchelor, Editor(s)

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