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On Localization and Mapping with RGB-D Sensor and Hexapod Walking Robot 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%3A00307181" target="_blank" >RIV/68407700:21230/16:00307181 - isvavai.cz</a>

  • Result on the web

  • DOI - Digital Object Identifier

Alternative languages

  • Result language

    angličtina

  • Original language name

    On Localization and Mapping with RGB-D Sensor and Hexapod Walking Robot in Rough Terrains

  • Original language description

    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.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    JC - Computer hardware and software

  • OECD FORD branch

Result continuities

  • Project

    <a href="/en/project/GJ15-09600Y" target="_blank" >GJ15-09600Y: Adaptive Informative Path Planning in Autonomous Data Collection in Dynamic Unstructured Environments</a><br>

  • 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

    Proceedings of 2016 IEEE International Conference on Systems, Man, and Cybernetics

  • ISBN

    978-1-5090-1897-0

  • ISSN

  • e-ISSN

  • Number of pages

    6

  • Pages from-to

  • Publisher name

    IEEE

  • Place of publication

  • Event location

    Budapest

  • Event date

    Oct 9, 2016

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article