  As both legged robots and embedded compute have become more capable,
researchers have started to focus on field deployment of these robots. Robust
autonomy in unstructured environments requires perception of the world around
the robot in order to avoid hazards. However, incorporating perception online
while maintaining agile motion is more challenging for legged robots than other
mobile robots due to the complex planners and controllers required to handle
the dynamics of locomotion. This report will compare three recent approaches
for perceptive locomotion and discuss the different ways in which vision can be
used to enable legged autonomy.
