Locomotion Strategy Selection for a Hybrid Mobile Robot Using Time of Flight Depth Sensor

Figure 9

Intensity and depth image samples for different terrains: (a) Level Ground, (b) Nontraversable, (c) Stair Down, (d) Stair Up, and (e) Uneven Terrain. (Note there is the horizontal shift of 25 mm between RGB and depth sensors on DepthSense DS325 camera, so the image pairs do not fully overlap.)

(a)

(b)

(c)

(d)

(e)