A visual perception and distance estimation system based on wavelet-enhanced RT-DETR and SGBM for wheeled-legged quadruped robots in special terrains

Wheeled-legged quadruped robots exhibit strong adaptability to complex terrain environments. However, reliable perception of special terrains such as stairs and slopes remains a critical challenge for autonomous motion decision-making. To address this problem, this study proposes a vision-based spec...

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Autori principali:	Wei Xue, Runjun Jing, Jianfeng Cui, Jiliang Mu, Xiujian Chou
Natura:	Artigo
Lingua:	Inglês
Pubblicazione:	Elsevier 2026-07-01
Serie:	Alexandria Engineering Journal
Soggetti:	Wheeled-legged quadruped robot Wavelet-enhanced RT-DETR Stereo distance estimation
Accesso online:	http://www.sciencedirect.com/science/article/pii/S1110016826003583
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