Outline of the proposed perception method. (IMAGE)

Beijing Institute of Technology Press Co., Ltd

Outline of the proposed perception method.

Caption

The feasible planar regions are used for footstep planning, preventing the body from hitting obstacles, and the heightmap is used to calculate foot trajectory to avoid foot collision during the swing process. The planar regions are efficiently extracted by leveraging the organized structure of points for nearest neighbor searches.

Credit

Xuechao Chen, School of Mechatronic Engineering, Beijing Institute of Technology

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