# perceptive_locomotion

**Repository Path**: xapples/perceptive_locomotion

## Basic Information

- **Project Name**: perceptive_locomotion
- **Description**: 局部地图
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-05-07
- **Last Updated**: 2026-05-07

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

### TODO

- [ ] 下楼梯显示异常
- [ ] 有时无法检测出楼梯
- [ ] RViz 显示结果有误
- [ ] RViz 显示点云会导致 stair_modeing 暂停⏸️ 推测是 message_filters 导致的问题
  - [ ] 考虑合并为一个节点
  - [ ] 相机点云降采样再发布
- [ ] 面特征 vs 线特征 from depth images
- [ ] 噪声

### Package lists

| name                   | function                         |
| ---------------------- | -------------------------------- |
| LIP_demo               | LIP结合Capture Point做落脚点规划 |
| **local_grid**         | 局部地图                         |
| peac_ros               | 平面检测                         |
| plane_msg              | 平面消息                         |
| realsense-ros          | 相机驱动                         |
| stair_info_msg         | 楼梯消息                         |
| stair_modeling         | 楼梯建模                         |
| **stair_modeling_ros** | 平面检测结合楼梯建模             |

### Stairs Modeling

<p align="center">
  <img src="doc/stairs.jpg" width="500"/>
</p>

### Control Framework

**From Coarse to Fine: Robust Hierarchical Control for a Quadruped Robot**

<p align="center">
  <img src="doc/models.jpg" width="500"/>
</p>

### Step Replanning

**Step Path**

<p align="center">
  <img src="doc/step_replanning.jpg" width="500"/>
</p>

**Implementation Details**

<p align="center">
  <img src="doc/annotate.jpg" width="500"/>
</p>

### References

1. [地面分割：Fast Segmentation of 3D Point Clouds for Ground Vehicles](https://blog.csdn.net/lovelyaiq/article/details/118826534)