Enhancing Robotic Perception and Adaptability through Sensor Fusion and Origami-Inspired Designs
Overview
A new mobile robot uses origami-inspired wheels and sensor fusion to improve depth perception in varied environments, enhancing adaptability and coverage with LiDAR and RGB-D data integration. (2026-10-08).
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Event evidence and corrections
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Reported quantity · payload: 300 other · Basis not reported
“LiDAR through intermediate elevations; held wheel positions provide a chosen viewing angle. An IMU accounts for chassis attitude, and a fusion node projects LiDAR returns into the RGB-D depth stream supplied to RTAB-Map. The arrangement uses the wheel actuation already present on a sub-300 USD, sub-2 kg prototype to extend the scanner's viewing geometry. We assess depth fusion in a textureless indoor corridor and an”
Exact source · revision 1Source owner not reported
Reported quantity · weight: 2 other · Basis not reported
“LiDAR through intermediate elevations; held wheel positions provide a chosen viewing angle. An IMU accounts for chassis attitude, and a fusion node projects LiDAR returns into the RGB-D depth stream supplied to RTAB-Map. The arrangement uses the wheel actuation already present on a sub-300 USD, sub-2 kg prototype to extend the scanner's viewing geometry. We assess depth fusion in a textureless indoor corridor and an”
Exact source · revision 1Source owner not reported
Reported quantity · cost: 300 other · Basis not reported
“LiDAR through intermediate elevations; held wheel positions provide a chosen viewing angle. An IMU accounts for chassis attitude, and a fusion node projects LiDAR returns into the RGB-D depth stream supplied to RTAB-Map. The arrangement uses the wheel actuation already present on a sub-300 USD, sub-2 kg prototype to extend the scanner's viewing geometry. We assess depth fusion in a textureless indoor corridor and an”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsEnhancing Robotic Perception and Adaptability through Sensor Fusion and Origami-Inspired Designs
This research introduces a compact mobile robot that uses origami-inspired wheels for locomotion and active sensing geometry control. The robot's changing chassis pitch sweeps a 2D LiDAR through intermediate elevations, while an IMU and fusion node project LiDAR data into RGB-D depth streams. The system improves depth coverage and reduces invalid depth fractions in both indoor and outdoor environments.
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