Prediction of motion over traversable obstacles for autonomous mobile robot based on 3D reconstruction and running information

Abstract

In this paper, we propose a method to predict motion over traversable obstacles for autonomous mobile robots based on 3D reconstruction and running information. Terrain images and vertical acceleration signal are collected and used. In order to estimate running features, function approximation methods are applied using image feature as input and running feature as output. The proposed method was evaluated by experiment of running on outdoor terrains.