Stereo Vision-Based Localization for Hexapod Walking Robots Operating in Rough Terrains
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00307000" target="_blank" >RIV/68407700:21230/16:00307000 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/document/7759388/" target="_blank" >http://ieeexplore.ieee.org/document/7759388/</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS.2016.7759388" target="_blank" >10.1109/IROS.2016.7759388</a>
Alternative languages
Result language
angličtina
Original language name
Stereo Vision-Based Localization for Hexapod Walking Robots Operating in Rough Terrains
Original language description
This paper concerns the self-localization problem of a hexapod walking robot operating in rough terrains. Given that legged robots exhibit higher terrain passability than wheeled or tracked platforms when operating in harsh environments, they constitute a challenge for the localization techniques because the camera motion between consecutive frames can be arbitrary due to the motion gait and terrain irregularities. In this paper, we present and evaluate an inertially assisted Stereo Parallel Tracking and Mapping (S-PTAM) method deployed on a hexapod crawling robot in a rough terrain. The considered deployment scenario is motivated by autonomous navigation in an unknown environment in an open loop fashion. The reported results and comparison with an existing RGB-D SLAM technique show the feasibility of the proposed approach and its suitability for navigation of crawlers in harsh environments.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on
ISBN
978-1-5090-3762-9
ISSN
2153-0866
e-ISSN
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Number of pages
6
Pages from-to
2492-2497
Publisher name
IEEE
Place of publication
Piscataway
Event location
Daejeon
Event date
Oct 9, 2016
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000391921702098