Polytopic Planar Region Characterization of Rough Terrains for Legged Locomotion

Zhi Xu1,2; Hongbo Zhu1,2; Hua Chen1,2; Wei Zhang1,2

10.1109/IROS47612.2022.9981553

2022

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2153-0858

978-1-6654-7928-8

2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)

8682-8689

OCT 23-27, 2022

null,Kyoto,JAPAN

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

This paper studies the problem of constructing polytopic representations for planar regions from depth camera readings. This problem is of great importance for terrain mapping in complicated environment and has great potentials in legged locomotion applications. To address the polytopic planar region characterization problem, we propose a two-stage solution scheme. At the first stage, the planar regions embedded within a sequence of depth images are extracted individually and then merged to establish a terrain map containing only planar regions in a selected frame. To simplify the representations of the planar regions that are applicable to foothold planning for legged robots, we further approximate the extracted planar regions via convex polytopes at the second stage. With the polytopic representation, the proposed approach achieves a great balance between accuracy and simplicity. Experimental validations with RGB-D cameras are conducted to demonstrate the performance of the proposed scheme. The proposed scheme successfully characterizes the planar regions via polytopes with acceptable accuracy. More importantly, the run time of the overall scheme is less than 10ms (i.e., > 100Hz) throughout the tests, which strongly illustrates the advantages of our approach developed in this paper.

Legged locomotion Image segmentation Robot vision systems Merging Terrain mapping Feature extraction Cameras

First ; Corresponding

English

CPCI-S

National Natural Science Foundation of China["62073159","62003155"] ; Shenzhen Science and Technology Program[JCYJ20200109141601708] ; Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS20200811143601004]

Automation & Control Systems ; Computer Science ; Engineering ; Robotics

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Robotics

WOS:000909405301052

Web of Science

1.Southern Univ Sci & Technol, Shenzhen Key Lab Biomimet Robot & Intelligent Sys, Shenzhen 518055, Peoples R China
2.Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen 518055, Peoples R China

Zhi Xu,Hongbo Zhu,Hua Chen,et al. Polytopic Planar Region Characterization of Rough Terrains for Legged Locomotion[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2022:8682-8689.