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Proceedings Paper

Vision Processing And Foothold Selection For The ASV Walking Machine
Author(s): Charles A. Klein; Chin-Cheng Kau; Eric A. Ribble; Mark R. Patterson
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Paper 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.

Paper Details

Date Published: 1 January 1987
PDF: 9 pages
Proc. SPIE 0852, Mobile Robots II, (1 January 1987); doi: 10.1117/12.968248
Show Author Affiliations
Charles A. Klein, The Ohio State University (United States)
Chin-Cheng Kau, The Ohio State University (United States)
Eric A. Ribble, Adaptive Machine Technologies, Inc. (United States)
Mark R. Patterson, Adaptive Machine Technologies, Inc. (United States)

Published in SPIE Proceedings Vol. 0852:
Mobile Robots II
Wendell H. Chun; William J. Wolfe, Editor(s)

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