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
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DOI - Digital Object Identifier
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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
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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
<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
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e-ISSN
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Number of pages
6
Pages from-to
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Publisher name
IEEE
Place of publication
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Event location
Budapest
Event date
Oct 9, 2016
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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