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This paper proposes a new localization method using monocular camera. A camera is hanging on the ceiling toward the ground. Its optical axis is perpendicular to the ground as possible. Its intrinsic parameters are calibrated in advance offline. Its extrinsic parameters refer to the chessboard reference are calibrated online. Then a method is proposed to estimate the 3D positions and orientations of...
3D LiDAR is widely used for mobile robots environment perception nowadays, which has high precision of distance measurement. In this paper, a calibration method which is suitable for Velodyne VLP-16 is firstly introduced. And then we utilize statistical filtering for isolated points removal. After statistical filtering, a slope location and orientation estimation method is presented based on PROSAC...
This paper introduces a slope detection method based on point cloud data from 3D LiDAR for quadruped robots in unknown environments. For quadruped robots, they need to adjust their gaits according to different slope angles to avoid some potential dangers. 3D LiDAR is used to gather point cloud data, which is superior to 2D LiDAR in speed and accuracy. In this paper, a slope detection method using...
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