Design and implementation of a vision processing system for a walking machine

A vision processing system for a six-legged walking machine, the adaptive suspension vehicle, is presented. The vision-processing system consists of a laser range-finder, and vision computer, a terrain-elevation map, and a guidance computer. The range-finder measures the distances from itself to the...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 1989-02, Vol.36 (1), p.25-33
Main Authors: Chin-Cheng Kau, Olson, K.W., Ribble, E.A., Klein, C.A.
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Computer vision
Control theory. Systems
Exact sciences and technology
Legged locomotion
Machine vision
Mobile robots
Navigation
Robot sensing systems
Robot vision systems
Robotics
Robotics and automation
Service robots
Vehicles
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Summary:A vision processing system for a six-legged walking machine, the adaptive suspension vehicle, is presented. The vision-processing system consists of a laser range-finder, and vision computer, a terrain-elevation map, and a guidance computer. The range-finder measures the distances from itself to the objects in the scene. The specially designed vision computer processes the range data into a terrain-elevation form and stores the information with time data in a 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.< >
ISSN:0278-0046
1557-9948
DOI:10.1109/41.20341