Vision Processing And Foothold Selection For The ASV Walking Machine
Charles A. Klein, Chin-Cheng Kau, Eric A. Ribble, Mark R. Patterson · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1987
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.