Despite the interest and research into quadruped robots, one of the biggest problems these robots face is the limits in their control systems when it comes to unknown terrains. Typically, the algorithms they use require continuous terrain or rely on a pre-generated heightmap of a terrain. Some systems can generate these heightmaps on the spot; however, this process is slow and prone to error since incorporating vision into a robot for traversing new discontinuous terrain is quite a difficult and intensive task.