On localization and mapping with RGB-D sensor and hexapod walking robot in rough terrains
- 1 October 2016
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 002273-002278
- https://doi.org/10.1109/smc.2016.7844577
Abstract
In this paper, we address a problem of precise online localization of a hexapod walking robot operating in rough terrains. We consider an existing Simultaneous Localization and Mapping approach with a low cost structured light (RGB-D) sensor. We propose to combine this sensor and localization method with the developed adaptive motion gait that allows the robot to crawl various types of terrain, such as stairs, ramps, or small wooden blocks. Such an environment requires a full 6-DOF pose estimation to create a map of the robot surroundings and allows us to asses impact of the individual terrain types and influence of the SLAM method parametrization on the localization accuracy. The reported evaluation results indicate the relations between the terrain type, parametrization of the method and the localization accuracy.Keywords
This publication has 13 references indexed in Scilit:
- Improving accuracy of feature-based RGB-D SLAM by modeling spatial uncertainty of point featuresPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2016
- RGB–D terrain perception and dense mapping for legged robotsInternational Journal of Applied Mathematics and Computer Science, 2016
- Tactile sensing with servo drives feedback only for blind hexapod walking robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2015
- A Practical Multirobot Localization SystemJournal of Intelligent & Robotic Systems, 2014
- OctoMap: an efficient probabilistic 3D mapping framework based on octreesAutonomous Robots, 2013
- A benchmark for the evaluation of RGB-D SLAM systemsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2012
- Stereo-vision-based navigation of a six-legged walking robot in unknown rough terrainThe International Journal of Robotics Research, 2012
- ORB: An efficient alternative to SIFT or SURFPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2011
- The Visual SLAM System for a Hexapod RobotLecture Notes in Computer Science, 2010
- Random sample consensusCommunications of the ACM, 1981