The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

The perception system for the Ambler, an autonomous legged mobile robot that operates in rugged environments, is described. Its performance during a 500-m autonomous outdoor walking experiment is analyzed. The perception system aggressively verifies sensor data and uses feedback from terrain contact to increase accuracy. Characteristics of a robust perception system, are identified, and the authors' experiences in studying outdoor perception are summarized.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference

R. R. Hoffman and Eric Krotkov, "Terrain Mapping for Outdoor Robots: Robust Perception for Walking in the Grass," IEEE International Conference on Robotics and Automation, May, 1993, pp. 529 - 533.

BibTeX Reference

@inproceedings{Krotkov_1993_1354,
   author = "R. R. Hoffman and Eric Krotkov",
   title = "Terrain Mapping for Outdoor Robots: Robust Perception for Walking in the Grass",
   booktitle = "IEEE International Conference on Robotics and Automation",
   pages = "529 - 533",
   month = "May",
   year = "1993",
   volume = "1",
}

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