论文标题
使用GPU进行运动和导航的高程映射
Elevation Mapping for Locomotion and Navigation using GPU
论文作者
论文摘要
认为周围环境对于自动移动机器人至关重要。高程图为地面机器人提供了记忆效率且简单而功能强大的几何表示。机器人可以在未知环境中使用此信息进行导航，也可以对崎terrain的地形进行敏锐的运动控制。根据应用的不同，可以合并各种后处理步骤，例如平滑，介入或平面分割。在这项工作中，我们提出了一条高程映射管道，利用GPU进行快速有效的处理，并具有导航和运动的其他功能。我们通过广泛的硬件实验展示了我们的映射框架。在DARPA地下挑战赛和四足球运动实验中，我们的映射软件已成功部署进行地下探索。
Perceiving the surrounding environment is crucial for autonomous mobile robots. An elevation map provides a memory-efficient and simple yet powerful geometric representation for ground robots. The robots can use this information for navigation in an unknown environment or perceptive locomotion control over rough terrain. Depending on the application, various post processing steps may be incorporated, such as smoothing, inpainting or plane segmentation. In this work, we present an elevation mapping pipeline leveraging GPU for fast and efficient processing with additional features both for navigation and locomotion. We demonstrated our mapping framework through extensive hardware experiments. Our mapping software was successfully deployed for underground exploration during DARPA Subterranean Challenge and for various experiments of quadrupedal locomotion.
