CART learns a vision–proprioception terrain context and uses Temporal Sequence Selection to cut base oscillation by up to 41% in simulation and 22% on Spot outdoors, with a 5% higher sim success rate.
Visual slam algorithms: A survey from 2010 to 2016
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CART: Context-Aware Terrain Adaptation using Temporal Sequence Selection for Legged Robots
CART learns a vision–proprioception terrain context and uses Temporal Sequence Selection to cut base oscillation by up to 41% in simulation and 22% on Spot outdoors, with a 5% higher sim success rate.