We describe the perception system for the Ambler, an autonomous, legged mobile robot that operates in rugged environments. The Ambler's perception system uses 3-D laser range images to construct elevation maps of the local terrain, processing hundreds of images and thou- sands of elevation points during a walking experiment. This paper presents the design, implementation, and analysis of a perception system to meet the needs of long-duration walking, emphasizing issues of performance, accuracy, and reliability.
['Regis Hoffman', 'Eric Krotkov']
Terrain Mapping For Long-duration Autonomous Walking