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 thousands 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 perforumnce, accuracy, and reliability.
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Hoffman et al. (2005) studied this question.
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