Autonomous Navigation and 3D Semantic Mapping on Bipedal Robot Cassie Blue (Shorter Version)

The online autonomous navigation and semantic mapping experiment presented above is conducted with the Cassie Blue bipedal robot at the University of Michigan. The sensors attached to the robot include an IMU, a 32-beam LiDAR and an RGB-D camera. The whole online process runs in real-time on a Jetson Xavier and a laptop with an i7 processor. Video at 1X the full time The overview of the software is as follows: We first segment images from the RGB-D camera with a fast neural