GPUを用いた移動・ナビゲーション向け標高マッピング
Elevation Mapping for Locomotion and Navigation using GPU
GPUを活用して高速に標高マップを生成・処理するパイプラインを提案し、地下探査や四足歩行の実験で有効性を示した。
著者: Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter
分類: cs.RO
原文アブストラクト
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.
